基于行为的移动机器人避障系统的设计  

Design of behavior-based avoiding barriers system of mobile robot

作　　者：贾鹏[1] 黄玉美[1] 王效岳[2] 樊炳辉[3] 

机构地区：[1]西安理工大学,陕西西安710048 [2]山东理工大学,山东淄博255049 [3]山东科技大学,山东青岛266510

出　　处：《传感器与微系统》2007年第6期70-72,共3页Transducer and Microsystem Technologies

摘　　要：随着机器人应用范围的不断扩展,机器人所面临的工作环境也越来越复杂,多数是未知的、动态的和非结构化的。通过对基于行为的机器人控制技术的研究,提出了一种实用的自主移动机器人智能避障控制方案,阐述了其具体实现技术;将基于行为的控制技术融合进模糊控制的思想中,使移动机器人的行为通过运用模糊控制和基于优先度的行为决策来实现。试验证明了这一方法的有效性和实时性。As the robot application range extends constantly, its working condition is getting more complex, which is always unknown,dynamic and unstructured. Through exploring the behavior-based robot control technology, the intelligent avoiding barriers control system design of an autonomous mobile robot is presented. And the implementation technology of this scheme is introduced; In the designed mobile robot control system, behavior- based control is integrated with the concept of fuzzy control theory, the multiple objective missions are realized through fuzzy control and priority-based decision. Experiment results show its effectiveness and real-time ability.

关 键 词：移动机器人 避障 模糊逻辑 行为控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]