A Novel Step Optimal Path Planning Algorithm for the Spherical Mobile Robot Based on Fuzzy Control

被引：38
作者：
Guo, Jian [1 ]
Li, Chunying [1 ]
Guo, Shuxiang [1 ,2 ,3 ]
机构：
[1] Tianjin Univ Technol, Tianjin Key Lab Intelligent Robot Lab, Tianjin 300384, Peoples R China
[2] Beijing Inst Technol, Inst Adv Biomed Engn Syst, Minist Ind & Informat Technol, Sch Life Sci,Key Lab Convergence Med Engn Syst &, Beijing 100081, Peoples R China
[3] Kagawa Univ, Fac Engn, Dept Intelligent Mech Syst Engn, Takamatsu, Kagawa 7610396, Japan
来源：
IEEE ACCESS | 2020年 / 8卷
基金：
中国国家自然科学基金;
关键词：
Spherical mobile robot; step optimal; fuzzy control; SENSOR;
D O I：
10.1109/ACCESS.2019.2962074
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to improve the ability of the spherical mobile robot to navigate and move autonomously in an unknown environment. This paper proposed a novel step optimal path planning method based on fuzzy control. Firstly, by analyzing the motion model of the spherical mobile robot, the arrangement and debugging of the ultrasonic sensors (HC-SR04) were completed. Then, through multi-sensor fusion technology and D-H parameter method, a fuzzy controller for the spherical mobile robot was designed. Finally, the proposed fuzzy control method was applied to the path planning of spherical mobile robot in unknown environment, and tested by a series of simulations and experiments. The results showed that the step optimal method based on fuzzy control could ensure that the spherical mobile robot completed the path planning. The experimental results also verified the effectiveness and practicability of the proposed novel path planning method.
引用
收藏
页码：1394 / 1405
页数：12
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