摘要本课题以移动机器人为背景，对家用移动机器人模糊控制避障算法和路径规划问题进行深入研究和实验验证，确定了基于行为的避障控制算法，并对机器人硬件结构与运动学模型进行了分析和论证。  主要从控制模块、感知系统、步进电机驱动模块和电源系统四个方面对移动机器人的基本结构进行了详细的分析设计。考虑到运动控制的难点，重点研究了家用移动机器人控制系统的设计、感知模块设计、模糊控制的设计和模糊控制在家用机器人避障中的应用。实现了对超声波对障碍物距离的检测并发出控制指令等功能。使用三组超声波传感器分时对家用机器人周围的环境进行探测，利用单片机对障碍物信息进行分析处理，通过改进的模糊控制算法来完成障碍物信息的识别与处理，实现了家用移动机器人的主要避障。
  最后，对部分功能进行了调试，所用到的超声波传感器系统可实现对周围环境障碍物的探测，障碍物判别系统将能够保障自动导航机器人在规定的路线行驶。并且系统运行相对稳定，基本达到了预期的研究目的。9452
关键词: 超声波传感探测模块；避障移动机器人；模糊控制
Abstract
The topic in mobile robot as background , for home mobile robot obstacle avoidance algorithm and fuzzy control path planning problem for further research and experiment, determined based on behavior obstacle avoidance control method, and the hard ware structure and the robot kinematics model analyses and demonstrates.
    This article mainly from the control module, perceptual system, stepping motor driver module and power system four aspects the basic structure of mobile robot were analyzed in detail design. Considering the difficulty of movement control, focus on the domestic mobile robot control system design, data acquisition module design, the design of fuzzy controller and fuzzy control in household robot obstacle avoidance of application. Realize the ultrasonic testing of obstacle distance and send out control instruction, and other functions .Using three groups of ultrasonic sensors time-sharing for home robot surrounding environment, detection of obstacles using single chip computer information analyze and process through improved fuzzy control algorithm to complete obstacles information to identify and handle, realized the domestic mobile robot autonomous obstacle-avoiding.
    Finally, the partial function has been debugged, the design of ultrasonic sensor system can realize the surrounding environment obstacles detecting , and obstacles descriminant system will be automatic navigation robot that can ensure the safe driving. The system is stable, basic is expected to reach the purpose of the research.
Keywords: Ultrasonic sensors; Fuzzy control; Obstacle avoidance
 目  录
1 绪论    1
1.1 课题研究的背景及意义    1
1.2 模糊控制的设计思想    2
1.3 模糊控制器的设计    2
1.4 超声波测距    3
1.5 导航策略    4
2 家用机器人运动结构及运动模型    5
2.1 移动机器人的机械运动结构    5
2.1.1 差速转向式    5
2.2 运动模型    7
2.3 本章小结    8
3 机器人硬件设计    9
3.1 系统硬件结构总体设计    9
3.2 控制模块设计    9
3.2.1 控制主芯片选择    9
3.2.2 AT89C51微处理器    10
3.3 电机驱动模块    12
3.3.1 L298N芯片介绍    12
3.3.2 步进电机介绍    14
3.4 感知模块设计    15 智能机器人避障算法研究+文献综述:http://www.youerw.com/zidonghua/lunwen_8178.html