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1、Autonomous robot obstacle avoidance using a fuzzy logic control schemeWilliam MartinSubmitted on December 4, 2009CS311 - Final Project1. INTRODUCTIONOne of the considerable hurdles to overcome, when trying to describe a real-world control scheme with first-order logic, is the strong ambiguity found
2、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 i
3、n 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 propo
4、sed 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 computatio
5、nally 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
6、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 IMPLEMENTATION2.1. Chassis and sensorsThe robotic vehicle
7、s 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 case and two DC motors for the tank treads. However, this left a somewhat uneven surface to work on, so high-de
8、nsity polyethylene (HDPE) rods were used to fill in empty spaces. Since HDPE has a rather low surface energy, which is not ideal for bonding with other materials, a propane torch was used to raise surface temperature and improve bonding with an epoxy adhesive. 机器人车辆的底盘构造神剑EI MSD2003遥控玩具坦克。该设备被剥夺了所有的
9、电子设备，齿轮和多余的部分，为了工作，只是空的情况下，两个直流电机的坦克履带。然而，这留下了一个有点凹凸不平的表面，如此高密度聚乙烯（HDPE）棒被用来填充空格。由于高密度聚乙烯具有相当低的表面能，这是不理想的与其它材料的接合，用丙烷喷灯，以提高表面温度和提高用环氧粘合剂接合。Three Sharp GP2D12 infrared sensors, which have a range of 10 to 80 cm, were used for distance measurements. In order to mount these appropriately, a 2.5 by 15 c
10、m piece of aluminum was bent into three even pieces at 135 degree angles. This allows for the IR sensors to take three different measurements at 45 degree angles (right, middle, and left distances). This sensor mount was then attached to an HDPE rod with mounting tape and the rod was glued to the ta
11、nk base with epoxy. Since the minimum distance that can be reliably measured with these sensors is 10 cm, the sensors were placed about 9 cm from the front of the vehicle. This allowed measurements to be taken very close to the front of the robot.三尖GP2D12红外传感器，其中有一个1080厘米范围内，分别用于测量距离。为了安装这些适当， 2.5 x
12、 15厘米的一块铝在135度的角度弯曲成三连件。这允许采取三种不同的测量，以45度角（右，中间和左边的距离）的红外线传感器。此传感器安装，然后连接到安装胶带HDPE棒杆用环氧树脂粘在坦克基地。由于能够可靠地与这些传感器测量的最小距离是10厘米，从车辆前方的传感器被放置约9厘米。这允许测量应采取非常接近的机器人面前。2.2. ElectronicsIn order to control the speed of each motor, pulse-width modulation (PWM) was used to drive two L2722 op amps in open loop mod
13、e (Fig. 1). The high input resistance of these ICs allow for the motors to be powered with very little power draw from the PWM circuitry. In order to isolate the motors power supply from the rest of the electronics, a 9.6 V NiCad battery was used separately from a standard 9 V that demand on the op
14、amps led to a small amount of overheating during continuous operation. This was remedied by adding small heat sinks and a fan to the forcibly disperse heat.为了控制各电动机的速度，脉冲宽度调制（PWM）是用来驱动两个L2722在开环模式（图1）的运算放大器。这些IC的高输入电阻值，可以用很少的功率消耗从PWM电路供电的电动机。为了分离从电子设备的其余部分的电机的电源， 9.6伏特的镍镉电池被用于分别从一个标准的9伏上的运算放大器的需求在连续
15、操作过程中导致少量过热。这是通过添加小的散热片和风扇强制散热补救。 Fig. 1. The control circuit used for driving each DC motor. Note that the PWM signal was between 0 and 5 V.2.3. Microcontroller用于驱动每个直流电动机的控制电路。请注意，在PWM信号为0和5之间V 。Computation was handled by an Arduino Duemilanove board with an ATmega328 microcontroller. The board ha
16、s low power requirements and modifications. In addition, it has a large number of prototyping of the control circuit and based on the Wiring language. This board provided an easy and low-cost platform to build the robot around.ATMEGA328单片机计算处理的一个Arduino Duemilanove板。该板具有低功耗的要求和修改。此外，它有大量的原型设计的控制电路和接线语言的基础上。此板提供了一个简单和低成本的平台打造的机器人左右。3. FUZZY CONTROL SCHEME FORIn order to apply fuzzy logic to the robot to interpret measured distances. While the final algorithm depended critically on t
