基于模糊专家决策的室内无人机避障系统
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摘要
为实现四旋翼无人机室内环境下的全方位避障规划,搭建了以超声波传感器检测障碍物的三维检测装置,防止可见光影响的同时降低了系统成本。针对多传感器配置造成模糊规则"爆炸"以及模糊决策冲突问题,采用多级模糊控制器与专家系统相结合的方式进行三维立体避障决策,搭建了基于模糊专家系统的三维避障决策控制系统,进行了模糊控制器以及专家系统的设计,基于MATLAB仿真实验验证了方法的有效性。
In order to realize all-round obstacle avoidance planning of quad-rotor unmanned aerial vehicles under the indoor environment, the paper builds a three-dimensional detector by using ultrasonic sensors to detect obstacles so as to avoid the impact of visible light and reduce the system cost. For the problems of fuzzy rule "exploration" and decision conflicts caused by multi-sensor configuration, the paper combines the multilevel fuzzy controller with the expert system to make three-dimensional obstacle avoidance decisions. It sets up the three-dimensional obstacle avoidance decision controlling system based on the fuzzy expert system and designs the fuzzy controller and expert system. The validity of the method is verified by MATLAB simulation.
In order to realize all-round obstacle avoidance planning of quad-rotor unmanned aerial vehicles under the indoor environment, the paper builds a three-dimensional detector by using ultrasonic sensors to detect obstacles so as to avoid the impact of visible light and reduce the system cost. For the problems of fuzzy rule "exploration" and decision conflicts caused by multi-sensor configuration, the paper combines the multilevel fuzzy controller with the expert system to make three-dimensional obstacle avoidance decisions. It sets up the three-dimensional obstacle avoidance decision controlling system based on the fuzzy expert system and designs the fuzzy controller and expert system. The validity of the method is verified by MATLAB simulation.
引文
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[2]张博翰,蔡志浩,王英勋.电动VTOL飞行器立体视觉导航方法研究[C].中国制导导航与控制学术会议,中国,上海,2010:298-303.Zhang B H,Cai Z H,Wang Y X.Research on stereo vision navigation method of electric VTOL vehicle[C].China guidance and navigation and control conference,China,Shanghai,2010:298-303.
[3]GRZONKA S,GRISETTI G,BURGARD W.A fully autonomous indoor quad rotor[J].AIEEE Transactions On Robotics,2012,28(1):90-100.
[4]周源,王希彬.无人机SLAM避障技术研究[J].兵工自动化,2015,11(4):78-81.Zhou Y,Wang X B.Research on SLAM obstacle avoidance technology for unmanned aerial vehicle[J].Ordnance Industry Automation,2015,11(4):78-81.
[5]曹美会,鲜斌.基于视觉的四旋翼无人机自主定位与控制系统[J].信息与控制,2015:44(2):190-196,202.Cao M H,Xian B.Autonomous positioning and control system of four rotor UAV Based on vision[J].Information and control,2015:44(2):190-196,202.
[6]张毅,蒋翔,罗元等.基于深度图像的移动机器人动态避障算法[J].控制工程,2013,20(4):660-663.Zhang Y,Jiang X,Luo Y,et al.Dynamic obstacle avoidance algorithm for mobile robot based on depth image[J].Control Engineering of China,2013,20(4):660-663.
[7]欧阳鑫玉,杨曙光.基于势场栅格法的移动机器人避障路径规划[J].控制工程,2014,21(1):130-134.Ouyang X Y,Yang S G.Obstacle avoidance path planning for mobile robots based on potential field grid method[J].Control Engineering of China,2014,21(1):130-134.
[8]杨乐.机器人超声波避障的探究[J].黑龙江科技信息,2010,11(4):64-67.Yang L.Research on ultrasonic obstacle avoidance of robot[J].Heilongjiang science and technology information,2010,11(4):64-67.
[9]徐德,邹伟.室内移动式服务机器人的感知、定位与控制[M].北京:科学出版社,2008.Xu D,Zou W.Perception,localization and control of indoor mobile service robot[M].Beijing:Science Press,2008
[10]涂承宇.模糊控制理论与实践[M].北京:地震出版社,1998:33~42.Tu C Y.Fuzzy control theory and practice[M].Beijing:Seismological Press,1998:33-42.
[11]Liao S H.Expert system methodologies and applications-Adecadereview from 1995 to 2004[J].Expert Systems with Appli-cations.2005,28(1):93-103.