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为了使移动机器人各组件可快速组装、便于维修,设计了一种新颖的模块化移动机器人,由驱动模块、控制模块、传感模块及标准连接模块组成.为了解决移动机器人在复杂未知环境下的路径规划问题,提出了基于“感知-动作”的模糊逻辑控制体系结构,采用基于“感知-动作”的模糊逻辑控制方法分别对模块化移动机器人的路径规划进行了二维和三维仿真.仿真结果显示了该模糊逻辑控制方法的稳定性和实用性.在三维复杂环境下应用该方法仿真实现了单个及多个机器人的避碰运动.
In order to make the components of the mobile robot quickly assembled and easy to maintain, a novel modular mobile robot is designed, which consists of a driving module, a control module, a sensing module and a standard connecting module.In order to solve the problem of mobile robot in a complex and unknown environment Path planning, this paper proposes a fuzzy logic control architecture based on “perception-action ” and adopts a fuzzy logic control method based on “perception-action ” to perform two-dimensional and three-dimensional The simulation results show the stability and practicability of the fuzzy logic control method.The collision avoidance motion of single and multiple robots is simulated by the method in three-dimensional complex environment.