未知环境下基于FSA的移动机器人导航策略  

FSA-based Navigation Strategy for Mobile Robots Under Unknown Environments

作　　者：肖晓明[1] 黄明登[1] 蔡自兴[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：《计算机测量与控制》2007年第11期1618-1620,共3页Computer Measurement &Control

基　　金：国家自然科学基金重点项目(60234030);中南大学科学研究基金(1811-76176)

摘　　要：采用2D激光雷达作为主要传感器,设计了一种未知室内环境下的移动机器人导航策略;该策略首先把机器人室内环境下的导航行为分为3个状态集:墙壁导航、走廊导航和通路导航,然后利用有限状态自动机的原理把这几种状态集融合到一起,构成了一种移动机器人自主探索未知环境的导航策略;该策略的特点在于不依赖里程计的信息,并且也不需要任何的环境地图,实现起来快速准确,对于环境的变化具有较强的鲁棒性;将该策略应用到移动机器人MORCS-1上进行了测试,实验结果表明了算法具有良好的实时性与可靠性。Using the 2D laser scanner as the main sensor, a navigation strategy is designed for mobile robots under unknown indoor environments. This strategy first divides the navigation behavior of robot under indoor environments into three-state collection： wall navigation, corridor navigation and passageway navigation. And then the three-state collection is merged with the principle of finite state automata in order to construct an autonomous navigation strategy for mobile robot exploring unknown environments. This strategy neither relies on the odometrie data nor any environment map. With strong robustness to environment changes, it can be implemented fast and accurately. The strategy is implemented and tested on real mobile robot MORCS-1, the experimental results showed that this strategy can satisfy the requirement of reliability and real-time when mobile robot explores unknown environments.

关 键 词：激光雷达 特征提取 有限状态自动机 移动机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]