机器人煳避障外文翻译.docVIP

Autonomous robot obstacle avoidance using a fuzzy logic control scheme William Martin Submitted on December 4, 2009 CS311 - Final Project 1. INTRODUCTION One of the considerable hurdles to overcome, when trying to describe a real-world control scheme with first-order logic, is the strong ambiguity found in both semantics and evaluations. Although one option is to utilize probability theory in order to come up with a more realistic model, this still relies on obtaining information about an agents environment with some amount of precision. However, fuzzy logic allows an agent to exploit inexactness in its collected data by allowing for a level of tolerance. This can be especially important when high precision or accuracy in a measurement is quite costly. For example, ultrasonic and infrared range sensors allow for fast and cost effective distance measurements with varying uncertainty. The proposed applications for fuzzy logic range from controlling robotic hands with six degrees of freedom1 to filtering noise from a digital signal.2 Due to its easy implementation, fuzzy logic control has been popular for industrial applications when advanced differential equations become either computationally expensive or offer no known solution. This project is an attempt to take advantage of these fuzzy logic simplifications in order to implement simple obstacle avoidance for a mobile robot. 的一个相当大的障碍需要克服，当试图用一阶逻辑来描述现实世界的控制方案，是很强的模糊性在语义和评估发现。虽然一个选项是为了拿出一个更现实的模型利用概率论，这仍然依赖于代理的环境信息获取一定量的精度。然而，模糊逻辑允许一个代理来利用其收集的数据，可以容忍一定程度的不精确性。高时在测量的精度或准确性是相当昂贵的，这可能是特别重要的。例如，超声波和红外测距传感器允许快速和具有成本效益的距离测量变化的不确定性。建议应用范围模糊逻辑控制机器人手与freedom1六度，由于其易于实施从一个数字signal.2的滤除噪声，模糊逻辑控制一直为工业应用先进的差分方程变为昂贵的计算或要约时没有已知的解决方案。这个项目是一个企图利用这些模糊逻辑简化，以实现简单的移动机器人避障。 2. PHYSICAL ROBOT IMPLEMENTATION 2.1. Chassis and sensors The robotic vehicles chassis was constructed from an Excalibur EI-MSD2003 remote control toy tank. The device was stripped of all electronics, gears, and extraneous parts in order to work with just the empty ca