一种混合结构的移动机器人导航控制策略  

A Navigation Control Strategy with Hybrid Architecture for Mobile Robots

作　　者：郑敏捷[1] 蔡自兴[1] 邹小兵[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《机器人》2006年第2期164-169,共6页Robot

基　　金：国家自然科学基金重点资助项目(60234030)

摘　　要：研究了未知环境下移动机器人实时的导航控制问题.采用分布式系统将反射式行为、反应式行为与慎思规划相结合,设计了移动机器人导航控制策略.根据激光雷达传感器信息设计了基于栅格的实时避障算法和解锁策略.通过慎思规划解决了复杂环境下的局部势能陷阱问题.通过自行研制的移动机器人IMR01的实验验证了导航策略的有效性.The real-time navigation problem of mobile robot in unknown environment is studied. A navigation control strategy for mobile robot is designed by the fight integration of reflecting behavior, reactive behavior and deliberative medule based on distributed system. Based on information from laser radar sensor, a real-time obstacle avoidance algorithm and the strategy of breaking away from dead state are also designed. They are combined with the advanced deliberative medule and successfully resolve the problem of local energy trap. The validity of these strategies is validated by the experiments on the mobile robot IMR01 designed by us.

关 键 词：反应式行为 慎思规划 混合控制结构 激光雷达 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]