考虑个体习惯的轮椅机器人人机共享避障方法

王义娜,曹晨,杨佳琪,俞彦军,傅国强,王硕玉

Human-machine shared obstacle avoidance method for wheelchair robot considering individual habit

Yina WANG,Chen CAO,Jiaqi YANG,Yanjun YU,Guoqiang FU,Shuoyu WANG

表 1 If-then 模糊规则

Tab.1 If-then fuzzy rules

规则1：若x1=A11, x2=A12, x3=A13, x4=A14, 则$ \beta $=B1 规则2：若x1= A21, x2= A22, x3=A23, x4=A24, 则$ \beta $=B2 . . . . . . . . . . 规则8：若x1=A81, x2=A82, x3=A83, x4=A84, 则$ \beta $=B8 前提：x1=A1, x2=A2, x3=A3, x4=A4 结论： $ \beta $=B