移动机器人自主越障反应控制行为组合方法  

A Behavior Combination in Autonomous Negotiation Reactive Control for Mobile Robot

作　　者：徐正飞[1] 杨汝清[2] 陆际联[1] 杨华[3] 

机构地区：[1]北京理工大学机器人中心,北京100081 [2]上海交通大学机器人研究所,上海200030 [3]天津军事交通学院汽车工程系,天津300161

出　　处：《上海交通大学学报》2006年第3期451-455,共5页Journal of Shanghai Jiaotong University

摘　　要：介绍了关节式移动机器人运动系统的元(基本)行为,提出了用模糊逻辑组合方法将原子行为(动作)组合生成高层复杂行为的行为模糊逻辑组合方法;描述了模糊逻辑组合方法组合生成的移动机器人自主越障行为.通过凸台、凹坑和楼梯等典型障碍的越障实验证明,该方法所生成的行为控制自主越障动作协调性好,具有较高的实时性、快速性和可靠性.解决了关节式移动机器人在城区和建筑内运动的越障稳定性和移动性问题.This paper presented the meta-behavior （basic behavior） of a mobile robot motion system, proposed a fuzzy logical behavior combination method which combines meta-behavior to create high level complex behavior using fuzzy logic principle; and described the behavior of automotive obstacles negotiation using the fuzzy logical behavior combination method to create the negotiate action for mobile robot. The experiment of negotiating typical obstacles, such as convex, concave obstacles and stairs, shows the behaviors created by this method control robot of negotiating obstacles have better coordination, higher performance of real-time, speediness and reliability. It can resolve the problems of negotiation stability and mobility for articulated mobile robot in the city zone and building.

关 键 词：关节式移动机器人 自主越障 行为组合 模糊逻辑组合方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]