【路径规划】基于模糊逻辑算法实现机器人路径规划附matlab代码

1 简介

The code provided with this document uses Fuzzy Logic for robot motion planning. Assume that you have a robot arena with an overhead camera as shown in Figure 1. The camera can be easily calibrated and the image coming from the camera can be used to create a robot map, as shown in the same figure. This is a simplistic implementation of the real life scenarios where multiple cameras are used to capture different parts of the entire workspace, and their outputs are fused to create an overall map used by the motion planning algorithms. This tutorial would assume that such a map already exists and is given as an input to the map.​

2 部分代码

​​​function feasible=plotRobot(position,direction,map,robotHalfDiagonalDistance)% plot robot with specified configuration and check its feasibility corner1=position+robotHalfDiagonalDistance*[sin(direction-pi/4) cos(direction-pi/4)]; corner2=position+robotHalfDiagonalDistance*[sin(direction+pi/4) cos(direction+pi/4)]; corner3=position+robotHalfDiagonalDistance*[sin(direction-pi/4+pi) cos(direction-pi/4+pi)]; corner4=position+robotHalfDiagonalDistance*[sin(direction+pi/4+pi) cos(direction+pi/4+pi)]; line([corner1(2);corner2(2);corner3(2);corner4(2);corner1(2)],[corner1(1);corner2(1);corner3(1);corner4(1);corner1(1)],'color','blue','LineWidth',2); if ~feasiblePoint(int16(corner1),map) || ~feasiblePoint(int16(corner2),map) || ~feasiblePoint(int16(corner3),map) || ~feasiblePoint(int16(corner4),map)     feasible=false; else     feasible=true; end

3 仿真结果

4 参考文献

[1]李擎等. "静态环境下基于模糊逻辑算法的移动机器人路径规划." 中国控制与决策会议 2013.​

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