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根据在冶金行业中的移动机器人工作环境的不确定性,设计了双模糊协调控制器,把机器人的行为分成接近目标行为和中途避障行为,并对两种行为进行协调,达到对机器人下一步行动进行控制的目的,仿真实验结果验证了所提方法的有效性和可行性。
According to the uncertainty of working environment of mobile robot in the metallurgical industry, a double fuzzy coordination controller is designed. The robot’s behavior is divided into near-target behavior and mid-path avoidance behavior, and the two behaviors are coordinated to reach the next step for the robot The purpose of controlling the operation and simulation results verify the effectiveness and feasibility of the proposed method.