关键词: 移动机器人, 局部路径规划, 模糊控制, 陷阱预测机制, 多U型障碍物, 有限状态机

Abstract:

Aiming at the problems of local deadlock and path redundancy of the mobile robots running in the complex and unknown environments, a local path planning method based on prediction and fuzzy control is proposed. The decision-making strategy is also given to solve the problems that existed in the planning process. Firstly, the common obstacle avoidance behavior and the walking along the wall behavior are integrated into a fuzzy controller, and the behavior alternation are realized through internal rules. Secondly, aiming at the deadlock problem of multi-U obstacles existed in fuzzy control rules, a judgment method of cumulative corner sum is proposed to help the robot escape from the deadlock state. Then, the trap prediction mechanism is added to overcome the limitation of the sensor measurement range to a certain extent, and predict the feasible path in front of the robot for making decisions to reduce redundant sections. In addition, a finite state machine based on artificial potential field method is designed to solve the path redundancy caused by the symmetry of obstacles. Finally, the simulation tests are carried out on the MATLAB platform to verify the feasibility and validity of the designed methods.

Key words: mobile robot, local path planning, fuzzy control;trap prediction mechanism, multiple U-shaped obstacles, finite state machine