| Mobile robot as an important branch of robotics has made rapid development, more and more widely applied in the fields in recent years. Unknown environment for mobile robot path planning and obstacle avoidance is a hot spot in research and also difficult now. On the basis of summarizing and reference extensive literature, in this paper mobile robot path planning based on improved fuzzy control algorithm is derived.First, the robot must have ability to perceive the environment, can the robot to make the right response to the environment and plan the path. In order to improve the environment detecting ability of mobile robot, six ultrasonic sensors is used for three directiones. The mobile robot can find obstacles immediatly by detecting the front, the left and the right environment.Secondly, the mobile robot motion model is analysised and derived. For the robot obstacle avoidance issue, fuzzy algorithm based on improved obstacle avoidance strategy is proposed. To enable mobile robot to avoid obstacles timely and efficient, the acceleration of mobile robot is controlled by fuzzy algorithm. In order to prove the effectiveness of the algorithm specific fuzzy controller is designed using Matlab fuzzy toolbox, and complete model of mobile robot path is designed through Simulink. The algorithm is verified through creating the simulation model.Finally, the path planning based on fuzzy genetic algorithm for mobile robot is derived. With the increase of environmental complexity, fuzzy algorithm becomes complicated, and only through the fuzzy algorithm is difficult to determine and adjust the system behavior described in the membership functions and fuzzy rules. Because of genetic algorithm to control the issue with high availability, The traditional fuzzy control algorithm is modified through embedding the genetic algorithm to reduce the computation of fuzzy algorithm to make the robot more efficient obstacle avoidance. Simulation results show improved fuzzy genetic algorithm. |
PDF Full Text Request