The Research Of Dynamic Collision Avoidance For Mobile Robot Based On Fuzzy Control

Mobile robot is an important branch in the technological field of the robot. It refers to computer science, automation, mechanism, electronic science. At present time, more and more various kinds of mobile robot are being introduced into many application situations, such as automatic transfer of materiel, automatic exploration of dangerous regions, and service work etc. High demands on the navigation ability of mobile robot are put forward by these application, For this reason, this paper presents a systematic study on the collision avoidance strategy of mobile robot. In this paper, the main work includes:First, the research situation and the research method of mobile robot path planning in the country and the broad are elaborated and summaried, analyzing advantages and defaults of them. Based on kinematics principle of the two-wheel drive robot, this paper analyzes the motional characteristics of GAIA-2 and builds its simplification kinematics model.Behavior-based control is applied in the fuzzy control theory, A behavior-based fuzzy logical control method is designed for mobile robot and implements collision avoidance of mobile robot according to the idea of sensing-planning-acting. The fuzzy cotroller including four inputs and two outputs is designed by using Matlab, This method builds up mapping between input data and velocity command of wheels.Thinking about the celerity character of collision avoidance, the off-line calculation of fuzzy control is advanced. It is the implement process of fuzzy controller. By looking for control table, robot gains the dictation information and acts correspondly. The simulation program about this method is written based on VC++.The implement of intelligent robot is the embodiment of the robot control algorithms. But the key of the algorithms realization is to have a suitable executable platform. This paper is focused on the necessity of the embeddedsystem application in robot, Under the development environment Linux, the control strategy is applied to the GAIA-2 robot. It show that the proposed method is a simple effective approach for mobile robot searching a path in the unknown environments.In the final of the paper, the research and result are summarized. The future of this research field are described.