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针对月球环境非结构化的特点,为了使月球车能够安全有效的到达目标位置,能量消耗更小,将行为控制与模糊控制结合,提出了月球车运动规划的标准可加模糊行为系统,详细阐述了该系统的基本原理,由于行为控制与标准可加模糊系统结构上具有相似性,提高了系统的鲁棒性。设计了一个行为控制监督器,介绍了该控制器的构造组成及设计过程,并将避障行为与趋向目标行为进行行为融合,在着色障碍图的半真实环境中进行了仿真,并在BH2型月球车原理样机进行实验,结果表明了该方法的有效性与实时性。
In view of the unstructured lunar environment, in order to make the lunar rover reach the target position safely and effectively, the energy consumption is smaller and the behavioral control and fuzzy control are combined, a standard fuzzy action system of lunar rover motion planning is proposed. The basic principle of this system is that the robustness of the system is improved because of the similarities between the behavior control and standard additive fuzzy systems. A behavioral control supervisor is designed. The structure and design process of the controller are introduced. The behaviors of obstacle avoidance behavior and tendency target behavior are merged. The controller is simulated in the semi-real environment of the coloring disorder diagram. In BH2 The prototype of lunar rover is tested, the result shows that the method is effective and real-time.