基于概率模糊系统的移动机器人定位.docx

第七部分灰色定性仿真 第七部分灰色定性仿真 627 Mobile Robot Localization Based on Probabilistic Fuzzy System Ch Shuo Ling Hai Chen Chun—lin (Department ofControl and System Engineering·Nanjing University，Jiangsu，Nanjing，210093) Abstract：Dead reckoning in autonomous navigation allows mobile robot to determine its present position from known past position．Unfortunately,pure dead—reckoning methods prone to that grow without bound time．As the robot moves，the accumulated increase rapidly leading to large deviation from the correct position in mobile robot localization．It is investigated and analyzed that accumulated errors caused by various disturbances be classified into nonstochastic uncertainties and stochastic uncertainties．In this paper,a probabilistic fuzzy system(PFS)approach is proposed to handle both o聊hese kinds-of uncertainties for more precise localization of mobile robot．PFS is different from the ordinary fuzzy logic system(FLS)in that it uses probabilistic fuzzy sets instead of ordinary fuzzy sets to represent the information with both stochastic and fuzzy uncertainties．It is more reliable and robust for the data processing in robot localization．The simulated experiments demonstrate the of the proposed method for precise mobile robot localization with unexpected uncertainties and disturbances． Key words：Probabilistic Fuzzy System；Mobile Robot Localization；Dead Reckoning；Accumulated Errors 基于概率模糊系统的移动机器人定位 陈硕 凌海 陈春林 (南京大学控制与系统工程系。江苏．南京．210093) 摘要：在移动机器人自主导航中，航位推测法利用过去已知的位置信息来确定机器人当前位置，但纯粹的航位推测法会导 致定位误差随机器人的移动不断增加．引起航位推测法定位累积误差的干扰因素一般可分为非随机不确定性和随机不确定性 两类，因此本文提出基于概率模糊系统(PFS)来处理这两种不确定性以实现基于航位推测法的机器人精确定位。概率模糊 系统使用概率模糊集合代替普通模糊集合，以同时表达随机不确定性信息和模糊不确定性信息，可以更可靠的处理机器人定 位中的数据．仿真实验实现了在不确定干扰下移动机器人较为精确的定位，验证了概率模糊方法的可行性和优越性。 关奠词：概率模糊系统；移动机器人定位：航位推测法：累积误差 中图分类号：TP242 1 Introduction uncertain sources to the values of variables of interest together with the uncertainty【2】．The most common and basic method Localization IS essential for mobile robots to navigate for localiza