中文摘要：

为了使移动机器人各组件可快速组装、便于维修,设计了一种新颖的模块化移动机器人,由驱动模块、控制模块、传感模块及标准连接模块组成.为了解决移动机器人在复杂未知环境下的路径规划问题,提出了基于＂感知-动作＂的模糊逻辑控制体系结构,采用基于＂感知-动作＂的模糊逻辑控制方法分别对模块化移动机器人的路径规划进行了二维和三维仿真.仿真结果显示了该模糊逻辑控制方法的稳定性和实用性.在三维复杂环境下应用该方法仿真实现了单个及多个机器人的避碰运动.

英文摘要：

For the convenience of a fast assembling and maintenance of a mobile robot,a new modular mobile robot was designed with a driver module,a control module,a sensor module and connection modules.A fuzzy logic control system was developed,based on sense-actions in 2-D and 3-D.A method for mobile robot navigation in unknown environments was also developed for path planning by the robot in complicated environments.Path planning was simulated with the new fuzzy logic control method.The simulation showed the stability and practicability of this method.3-D simulations for single robot and multiple interacting robots showed that the method is effective.