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基于模糊逻辑的小型气源定位移动机器人的设计
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浙江省公益技术研究社会发展项目(2011C23109);浙江省重点科技创新团队计划资助(2010R50040)


Design on Fuzzy Logic Based Small Odor Source Localization Mobile Robot
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    摘要:

    气源定位的机器人已在有毒气体、火灾征兆、爆炸物探测等应用中广泛使用。为此,设计了基于模糊逻辑的小型气源定位移动机器人。该机器人以Arduino Mega 2560作为嵌入式控制器,并以TGS 2600芯片作为气体传感器。将气体传感器所感测的气体浓度作为模糊逻辑的输入,而用模糊逻辑的输出决定机器人驱动电动机的PWM信号。机器人跟踪的路径取决于机器人左、右电动机的PWM信号。当机器人右边气味浓度高于中间和左边时,模糊逻辑就决定让机器人向右移动。在这种条件下,左边电动机的移动速度高于右边电动机速度,致使机器人就向右移动。实验数据表明,设计的小型机器人具备在室内自主定位气源的能力。

    Abstract:

    A robot which is capable of odor source localization can be employed in many applications, such as the detection of toxic gas, fire at its early stage and explosives. Fuzzy logic based Small Odor Source Localization Mobile Robot is designed. The robot equipped with gas sensor(TGS 2600 chip), and Arduino Mega 2560 was used as the embedded controller. The concentrations of the source sensed by the gas sensors were used as the inputs of the fuzzy. The output of the Fuzzy logic is used to determine the Pulse Width Modulation(PWM)of driver motors of the robot. The path that the robot should track was depended on the PWM of the right and left motors of the robot. When the concentration in the right side of the robot was higher than the middle and the left side, the fuzzy logic would give decision to the robot to move to the right. In that condition, the left motor was in the high speed condition and the right motor was in slow speed condition. Therefore, the robot would move to the right. Experimental results demonstrate the capability of this simple odor source localization.

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王晓涓,单康.基于模糊逻辑的小型气源定位移动机器人的设计[J].机床与液压,2019,47(11):7-11.
. Design on Fuzzy Logic Based Small Odor Source Localization Mobile Robot[J]. Machine Tool & Hydraulics,2019,47(11):7-11

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  • 在线发布日期: 2020-02-20
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