Path Planning Of Mobile Robot Based On Fuzzy Logic

According to the control principle of fuzzy logic,the path planning of mobile robot is studied in this thesis.In particular,It combines the actual mobile robot platform and uses the robot's own sensor to find the position of the target in the position environment,and plan a collision free path to the target position,and capture the target.In this thesis,studied path planning of mobile robot by the control principle of fuzzy logic and combine real robot platform made the robot find the target location by itself sensors in unknown environment and plan a collision free path from the current location to the target location.The main work of this thesis are: 1)The development history of robots and the latest research achievements at home and abroad were introduced.The robot path planning methods were summarized,and its advantages and analyzed disadvantages;2)The hardware platform and software development environment of the Kenblock robot were introduced in this thesis.Because the method of mobile robot path planning based on fuzzy logic has strong dependence on robot sensors,the number and type of sensors will directly affect the final path planning effect.In this thesis,in order to optimize the path planning effect to the maximum,the Kenblock mobile robot platform was used and a variety of types of sensors were added;3)According to the control principle of fuzzy logic,fuzzy membership function were used to fuzzily input information of sensors,knowledge database and fuzzy inference were established through driving experience,and the precise interface method was determined.The fuzzy logic controller of Kenblock was designed concretely.And the dead circle strategy of mobile robot is given;4)The specific method of Kenblock target recognition is deeply studied.Add the camera module for the Kenblock mobile robot,so that it can find the target location by itself,and there is no need to tell the robot specific target location coordinates before the path planning.Even if the target location is constantly changing,the robot can also make path planning and adapt to more complex environment;5)A large number of simulation experiments(KiKS and V-REP two simulation systems)and robot system experiments(Kenblock mobile robot platform)have been carried out.The experimental results show that the mobile robot can plan a better path to avoid obstacles and reach the target.The path of the path is smooth and the U-type deadlock is solved.It proves the correctness and effectiveness of the fuzzy logic based path planning model for mobile robot.The advantages of the method proposed in this thesis are: 1)the running path of the robot is more smooth than others;2)It can solve the problem of U-type barrier deadlock;3)And solve the problem of speed jump in the actual controller;4)Target recognition makes it possible for real robot path planning and target tracking.