基于模糊控制的清洁机器人避障系统.pdf

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1、机床与液压Sep．2014HydromechatronicsEngineeringVo1．42No．18DOI：10．3969／j．issn．1001-3881．2014．18．019’‘1·--'·■’lomorehensiveobstacleavoiaancesystembaseaontl3etuzzycontrolforcleaningrobotJian—longZHANG，Xiao—yuLIU，Li—huaLISchoolofInformation，WuhanUniversityofScienceandTechnology，Wuhan430081，

2、ChinaAbstract：Toputforwardacomprehensivecleaningrobotobstacleavoidancescheme，ontheba-sisofsolidobstructionoftraditionalroadenvironmenttoioinIiquidobstaclesontheroad。thispa·perdesignedthefuzzycontroller，throughenvironmentalinformationdetectedfivesetofsensors，toavoidthissolidobstruc

3、tionofthefront-left，front-right，leftandrightside，removeliquidbarri·er，andachievethecomprehensiveefectofobstacleavoidance．TheefecthasbeenverifiedthroughMATALABsimulationexperiment．Keywords：Cleaningrobot，Fuzzycontrol，0bstacleavoidance1．Introduction2．Thesystemstructureofcleaningrobot

4、Alongwiththesocialprogress，thedevelopmentThreewheelsofdiscstructureareusedinclean．ofscienceandtechnology，peoplehaveincreasinglyingrobot，chassiswiththreewheelsisshowninFig-richmateriallife，andhopetoimprovethequalityofure1．twowheelsinthefrontasthedrivingwheel，life，expecttouseproduct

5、sofscienceandtechnologyusingtwomotordrivealone，behindwheelasauxilia．toreplacemanuallabor，cleaningrobotisoneexam-rywheel，supportingthebody，thedrivingwheelple，cleaningrobot，whichisonthemobilerobottocontrolrobotmoveforward，turnleft，turnfight，andaddsomespecificdevice，makeitachievethee

6、ffectotherfunctions．whenobstaclesaredetectedintheoftheautomaticcleaningthedust[1—2]．surroundingenvironment．CleaningrobotchangetheHaveautomaticsweepingmachinesoldonthemovementdirectionbycontrollingthepaceofthetwomarketatpresent，thismeansthetechnologyhasdrivewheels．whenthespeedofthe

7、leftwheelisbeenmature．Howdoesthecleaningrobottoavoidgreaterthantherightwheel，therobotturnright，obstaclesandeffectivelypreventcollision?Forthiswhenthespeedoftherightwheelisgreaterthanthereason，thisarticlewillputforwardakindofcleaningleft。therobotturnleft，whenthespeedoftworobotall—r

8、oundobstacleavoidancesystembasedo