采用模糊逻辑控制使自主机器人避障设计---机器人模糊避障外文翻译.docVIP

Autonomous robot obstacle avoidance using a fuzzy logic control scheme William Martin Submitted on December 4, 2009 CS311 - Final Project 1. INTRODUCTION One of the considerable hurdles to overcome, when trying to describe a real-world control scheme with first-order logic, is the strong ambiguity found in both semantics and evaluations. Although one option is to utilize probability theory in order to come up with a more realistic model, this still relies on obtaining information about an agents environment with some amount of precision. However, fuzzy logic allows an agent to exploit inexactness in its collected data by allowing for a level of tolerance. This can be especially important when high precision or accuracy in a measurement is quite costly. For example, ultrasonic and infrared range sensors allow for fast and cost effective distance measurements with varying uncertainty. The proposed applications for fuzzy logic range from controlling robotic hands with six degrees of freedom1 to filtering noise from a digital signal.2 Due to its easy implementation, fuzzy logic control has been popular for industrial applications when advanced differential equations become either computationally expensive or offer no known solution. This project is an attempt to take advantage of these fuzzy logic simplifications in order to implement simple obstacle avoidance for a mobile robot. 2. PHYSICAL ROBOT IMPLEMENTATION 2.1. Chassis and sensors The robotic vehicles chassis was constructed from an Excalibur EI-MSD2003 remote control toy tank. The device was stripped of all electronics, gears, and extraneous parts in order to work with just the empty case and two DC motors for the tank treads. However, this left a somewhat uneven surface to work on, so high-density polyethylene (HDPE) rods were used to fill in empty spaces. Since HDPE has a rather low surface energy, which is not ideal for bonding with other materials, a propane torch was used to raise surface temperature and im