Path Following and Obstacle Avoidance Control Based on Different Fuzzy Grains

摘要：

　　This paper presented a hierarchical fuzzy path following control scheme based on different fuzzy grain size in a class of unknown environment with static obstacles.By employing fine-grained fuzzy division and design of fuzzy rule table for the rotation angle and speed of a robot,a more accurate path following control was achieved,while more effective fuzzy obstacle avoidance was realized with coarse-grained fuzzy division strategy.The proposed controller was a two-leveled architecture in which the higher level was the decision-making of the sub-task switching of path following or obstacle avoidance,while the lower level was motion control of path following and fuzzy obstacle avoidance.Finally,the simulation experiments were carried out to demonstrate the feasibility and effectiveness of the proposed scheme.

关键词： Robot Fuzzy control Path following Obstacle avoidance

作者: Yifei Kong Chaoyi Chen Yuequan Yang Zhiqiang Cao

作者单位: College of Information Engineering,Yangzhou University,Yangzhou 225009,China State Key Laboratory of Management and Control for Complex Systems,Institute of Automation Chinese A

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 55-64

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）