| 芦红利， 闫娟， 余星宝， 路玉凤， 张雪涛， 张友朋.基于遗传模糊算法爬壁机器人避障仿真研究[J].轻工机械,2021,39(1):82-85 |
| 基于遗传模糊算法爬壁机器人避障仿真研究 |
| Simulation Research on Obstacle Avoidance of Wall Climbing Robot Based on Genetic Fuzzy Algorithm |
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| DOI：10.3969/j.issn.1005 2895.2021.01.016 |
| 中文关键词: 爬壁机器人 模糊控制 遗传算法 平面栅格 运动路径 MATLAB仿真 |
| 英文关键词:wall climbing robot fuzzy control genetic algorithm plane grid motion path MATLAB simulation |
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| 中文摘要: |
| 为解决爬壁机器人壁面作业过程中的避障问题，课题组提出了基于遗传算法优化的模糊控制算法。首先，建立了爬壁机器人在壁面的运动模型，求解出机器人运动学方程；利用平面栅格的方式进行描述机器人运动路径的规划；采用遗传算法对爬壁机器人模糊避障控制进行优化，并给出具体优化步骤。利用MATLAB进行仿真实验，仿真结果表明：与遗传算法进行比较，基于遗传算法优化的模糊控制在准确避开障碍物的前提下，能够更好地跟踪起点和目标点的连线，并规划出从起始点到目标点之间更短的路径。 |
| 英文摘要: |
| A fuzzy control algorithm based on genetic algorithm (GA) optimization was proposed for the obstacle avoidance in the wall climbing robot. The motion model of the wall climbing robot on the wall surface was established and the kinematics equation of the robot was solved. The plane grid was used to describe the path planning of the robot. Genetic algorithm was used to optimize the fuzzy obstacle avoidance control of the wall climbing robot, and the optimization steps were given. MATLAB was used for simulation experiment. The simulation results show that comparing with the genetic algorithm, the fuzzy control based on genetic algorithm optimization can better track the connection between the starting point and the target point, and plan a shorter path from the starting point to the target point under the premise of accurately avoiding obstacles. |
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