基于环境势场的移动机器人主动定位  

Environment potential field assisted active localization for mobile robot

作　　者：刘志斌[1] 石宗英[1] 赵明国[1] 徐文立[1] 

机构地区：[1]清华大学自动化系,北京100084

出　　处：《控制与决策》2008年第2期187-190,194,共5页Control and Decision

基　　金：国家自然科学基金项目(60374035);清华大学教育基金项目(202025001)

摘　　要：提出一种以环境势场提供辅助线索的主动定位方法.首先建立以环境中各标志物为场源的势场模型;然后为机器人构造以窗口势函数极大值位置和环境势函数极大值位置为主体的运动目标候选集合,并以行为效用和行为代价构成评价函数,从中选出目标位置,进而确定运动方向;最后根据机器人的运动能力和评价函数分别确定下一步的位移和观测方向.仿真结果验证了该方法的有效性.An active localization method using the cues supplied by environment potential field is proposed. An potential field model with all of the landmarks in the enviroment as the field sources is established. Then, a set of candidate destinations for the robot is formed based on the positions where the window potential function or the enviroment potential function are local maximum. The destination is chosen from the set according to the evaluation function composed of the utility and cost of the action, and accordingly the direction of movement is determined. Finaly, the displacement and the sensing direction are obtained according to robot＇s locomotion ability and the evaluation function respectively. Simulation results show the effectiveness of the presented method.

关 键 词：主动定位 势场 不确定度 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]