0.8 0.6F 0.6 0.2 2 200-150-100-50050100150200 d,, cord, (m) NEAR-obstacle distance near FAR-obstacle distance far LB-target left_ big LS-target left small Z-target zero RS-target right small RB- target right big 障碍物距离(d4)的模糊隶属函数 目标定位t的隶属函数 0.2 -40-30-20-1001020 a (deg) TLB-turm left big TLS-turn left small TZ-tum zero TRS-turn right small TRB-tun right big 转动角sa的隶属函数 sensor sensor sensor 情况1 情况3 情况5 Obstacle sensor 吃 情况7 sensor 情况2 情况4 情况6 有障碍环境下机器人运动方式示意图 情况1:左传感器探测到障碍物接近机器人的情况 r6: if dr is far and dc is far and dl is near and tr is lb then sa is tz [7: if dr is Far and dc is Far and dl is Near and tr is ls then sa is tz r 8. if dr is far and dc is far and dl is near and tr is z then sa is tz r9: if dr is Far and dc is far and dl is near and tr is rs then sa is trs r10: if dr is far and dc is far and di is near and tr is rb then sa is trB 情况2:左传感器和前方传感器探测到障碍物接近机器人的情况 r11. if dr is far and dc is near and di is near and tr is lb then sa is trs PDF文件使用" pdffactory Pro"试用版本创建ww, fineprint,com,cn有障碍环境下机器人运动方式示意图 情况 1：左传感器探测到障碍物接近机器人的情况 r6: if dr is FAR and dc is FAR and dl is NEAR and tr is LB then sa is TZ; r7: if dr is FAR and dc is FAR and dl is NEAR and tr is LS then sa is TZ; r8: if dr is FAR and dc is FAR and dl is NEAR and tr is Z then sa is TZ; r9: if dr is FAR and dc is FAR and dl is NEAR and tr is RS then sa is TRS; r10: if dr is FAR and dc is FAR and dl is NEAR and tr is RB then sa is TRB. 情况 2：左传感器和前方传感器探测到障碍物接近机器人的情况 r11: if dr is FAR and dc is NEAR and dl is NEAR and tr is LB then sa is TRS; PDF 文件使用 "pdfFactory Pro" 试用版本创建 www.fineprint.com.cn