Earticle

초록

영어

In order to solve dynamic path planning problem of multi-robot systems in unknown dynamic environment, a kind of method based on fuzzy and behavior control idea was proposed in this paper. This method designs two fuzzy controllers, which are danger degree fuzzy controller and velocity fuzzy controller. They took fully into account the position and the velocity of the obstacle and the azimuth of the target. Fuzzy rules were designed based on behavior control idea and which reflected move-to-goal behavior, avoid-obstacle behavior and follow-obstacle behavior. The experimental results show that the proposed method is feasible and valid and is suitable for the dynamic and complicated environment in particularly.

목차

Abstract
 1. Introduction
 2. Kinematics Model of the Tracked Robot
 3. The Design of the Dual-layer Fuzzy Controller
  3.1 The Design of Danger Degree of Collision Fuzzy Control (DDCFC)
  3.2 The Design of Velocity Fuzzy Control (VFC)
 4. Experiment Study
  4.1 Experiment Steps
  4.2 Experiment Results
 5. Conclusions
 Acknowledgments
 References

키워드

저자

• Lei Yanmin [ School of Electronic and Information Engineering, Changchun University, China ]
• Xing Xiaoxue [ School of Electronic and Information Engineering, Changchun University, China ]
• Feng Zhibin [ Electrical and Electronic Teaching and Research Section, Flight Fundamental Training Base, Changchun 130022, China ]
• Guan Xiuli [ School of Electronic and Information Engineering, Changchun University, China ]
• Du Limin [ School of Electronic and Information Engineering, Changchun University, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605