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논문검색

Dynamic Path Planning Based on Fuzzy and Behavior Control Idea

원문정보

Lei Yanmin, Xing Xiaoxue, Feng Zhibin, Guan Xiuli, Du Limin

보안공학연구지원센터(IJCA) International Journal of Control and Automation Vol.7 No.12 2014.12 pp.189-198
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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

저자정보

  • 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

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자료제공 : 네이버학술정보

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