机器人模煳避障外文翻译

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1、AutonomousrobotobstacleavoidanceusingafuzzylogiccontrolschemeWilliamMartinSubmittedonDecember4,2009CS311-FinalProject1.INTRODUCTIONOneoftheconsiderablehurdlestoovercome,whentryingtodescribeareal-worldcontrolschemewithfirst-orderlogic,isthestrongambiguityfoundinbothsemantics

2、andevaluations.Althoughoneoptionistoutilizeprobabilitytheoryinordertocomeupwithamorerealisticmodel,thisstillreliesonobtaininginformationaboutanagent'senvironmentwithsomeamountofprecision.However,fuzzylogicallowsanagenttoexploitinexactnessinitscollecteddatabyallowingforaleve

3、loftolerance.Thiscanbeespeciallyimportantwhenhighprecisionoraccuracyinameasurementisquitecostly.Forexample,ultrasonicandinfraredrangesensorsallowforfastandcosteffectivedistancemeasurementswithvaryinguncertainty.Theproposedapplicationsforfuzzylogicrangefromcontrollingrobotic

4、handswithsixdegreesoffreedom1tofilteringnoisefromadigitalsignal.2Duetoitseasyimplementation,fuzzylogiccontrolhasbeenpopularforindustrialapplicationswhenadvanceddifferentialequationsbecomeeithercomputationallyexpensiveoroffernoknownsolution.Thisprojectisanattempttotakeadvant

5、ageofthesefuzzylogicsimplificationsinordertoimplementsimpleobstacleavoidanceforamobilerobot.的一个相当大的障碍需要克服，当试图用一阶逻辑来描述现实世界的控制方案，是很强的模糊性在语义和评估发现。虽然一个选项是为了拿出一个更现实的模型利用概率论，这仍然依赖于代理的环境信息获取一定量的精度。然而，模糊逻辑允许一个代理来利用其收集的数据，可以容忍一定程度的不精确性。高时在测量的精度或准确性是相当昂贵的，这可能是特别重要的。例如，超声波和红外测距传感器允许快速

6、和具有成本效益的距离测量变化的不确定性。建议应用范围模糊逻辑控制机器人手与freedom1六度，由于其易于实施从一个数字signal.2的滤除噪声，模糊逻辑控制一直为工业应用先进的差分方程变为昂贵的计算或要约时没有已知的解决方案。这个项目是一个企图利用这些模糊逻辑简化，以实现简单的移动机器人避障。2.PHYSICALROBOTIMPLEMENTATION2.1.ChassisandsensorsTheroboticvehicle'schassiswasconstructedfromanExcaliburEI-MSD2003remotecont

7、roltoytank.Thedevicewasstrippedofallelectronics,gears,andextraneouspartsinordertoworkwithjusttheemptycaseandtwoDCmotorsforthetanktreads.However,thisleftasomewhatunevensurfacetoworkon,sohigh-densitypolyethylene(HDPE)rodswereusedtofillinemptyspaces.SinceHDPEhasaratherlowsurfa

8、ceenergy,whichisnotidealforbondingwithothermaterials,apropanetorchwasusedtoraisesu