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题名:
基于模糊函数法的移动机器人多障碍物避碰方法
其他题名: Multi-obstacle avoidance based on the method of fuzzy-function for mobile robot
作者: 张凤; 谈大龙
作者部门: 机器人学研究室
通讯作者: 张凤
会议名称: 6th World Congress on Intelligent Control and Automation
会议日期: June 21-23, 2006
会议地点: Dalian, China
会议主办者: Dalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd
会议录: WCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 243-243
收录类别: EI ; CPCI(ISTP)
EI收录号: 20071510544319
WOS记录号: WOS:000241773209295
产权排序: 2
ISBN号: 1-4244-0331-6
关键词: 移动机器人 ; 避碰 ; 模糊函数
摘要: 本文针对在在多障碍物的复杂动态环境,提出了一种基于模糊函数法的移动机器人避碰刀法。此方法是基于加速度空间,通过定义能反映碰撞危阶程度及紧边性的风险度函数,构造模糊函数,得到模糊函数曲线,将二维的避碰问题转换为一维问题,达到避碰的目的。此方法简洁、明了。仿真试验验证了其有效性。
英文摘要: This paper presented a method of collision avoidance based on the fuzzy-function focus on the complex environment existing multi-obstacle for mobile robot. It constructs the curve of fuzzy-function by defining the function of degree of risk, and changes the problem of two-dimension into one-dimension for collision avoidance. It is simple. The experiment of simulation verified its validity.
语种: 中文
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19862
Appears in Collections:机器人学研究室_会议论文

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作者单位: 1.Faculty of Information and Control Engineering, Shenyang Jianzhu University, Shenyang 110168
2.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016

Recommended Citation:
张凤,谈大龙. 基于模糊函数法的移动机器人多障碍物避碰方法[C]. 6th World Congress on Intelligent Control and Automation. Dalian, China. June 21-23, 2006.基于模糊函数法的移动机器人多障碍物避碰方法.
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文件名: 基于模糊函数法的移动机器人多障碍物避碰方法.pdf
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