Applied Research On Differential Evolution And Fuzzy Control Algorithm For Path Optimization Problem Of Mobile Robot

In recent years,as the rapid development of science and technology,mobile robots have penetrated into various fields of our social life,such as space,civilian,military and so on.Especially in some unknown environment detection,mobile robots,working instead of manpower,can greatly reduce the risks faced by practitioners.Due to the current state of the science and technology and the scope of application,mobile robots cannot fully perform autonomous work.Therefore,Path optimization has become the research object of many experts and scholars.This paper designed a mobile robot who has the capable of autonomous obstacle avoidance.The method of fuzzy control theory is mainly used to realize autonomous obstacle avoidance for Arrive at the designated location.Since the formulation of fuzzy control rules mainly relies on human operational experience,the paper introduced a differential evolution algorithm with strong global searchability to optimize fuzzy control rules to achieve shortest path.The main contents are as follows:1)For the mobile robot experimental platform based on STM32 as the main controller,the paper designed motor drive module,steering gear steering module,communication and various detection modules.Adopt the three-way ultrasonic sensor equipped with an electronic compass as an environment sensing system,and the user can use the WIFI communication module and the host computer to interact to realize remote control of the mobile robot.2)For the Path optimization problem of mobile robot based on fuzzy control theory,the paper designed a fuzzy controller based on the obstacle avoidance sensing system,including the fuzzy of input and output,the selection of membership function,the formulation of control rules and the observation fuzzy reasoning.process.3)For the Path optimization problem of mobile robot based on differential evolution-fuzzy control algorithm,the paper adopts the differential evolution algorithm,including population initialization,mutation operation,cross operation and selection operationto,to optimize the fuzzy control rules based on the defect of the fuzzy control rule formulation method,.In particular,the encoding method adopts integer encoding,as a continuous vector operation in the execution process,avoided the cumbersomeness of discrete optimization,and finally obtained the optimized control rule table.Carried out the obstacle avoidance simulation research by using the fuzzy control rule table before and after optimization.The results show that the optimized rule table is short path and no collision effect.Then the obstacle avoidance test is carried out for the mobile robot experimental platform.The test results show the optimized rules can make more accurate and timely obstacle avoidance actions when encountering obstacles.