移动机器人导航算法研究  

Application of Dynamic System Theory to Mobile Robot Navigation

作　　者：杨世强[1] 傅卫平[1] 李德信[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048

出　　处：《机械科学与技术》2010年第1期100-104,108,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(10872160);陕西省教育厅科学研究计划项目(09JK669)资助

摘　　要：利用非线性微分动力系统稳定性理论,用点吸引子构造移动机器人奔向目标行为和用点排斥子构造避障行为两种行为模式,将奔向目标行为和避障行为相结合,使机器人能够根据所处环境的变化,通过行为模式权值的调整实现行为间的竞争;分析了系统稳定的基本条件,建立了基于动态方法的智能机器人行为动态导航模型;运用立体双目视觉构建局部地图,通过计算机实例仿真,验证了该机器人导航模型的可行性。仿真结果表明:该模型可以满足较为复杂未知动态环境中的导航和目标跟踪要求。Two behavioral modes of mobile robot-target navigation behavior which is a point attractor and obstacle avoidance behavior which is a point repeller, are constructed based on the stability theory of nonlinear differential dynamical system. An intelligent robot behavioral dynamic navigation model based on dynamic approach is established, which integrated target navigation behavior and obstacle avoidance behavior. In this model, according to the variation of working environment, the robot can realize the competition between behavioral modes via adjusting coef- ficients of each behavioral mode. Fundamental stabihty condition of the model is analyzed. The mobile robot navi- gation based on this model is simulated proved. The results show that the model dynamic environment. through a local map built by binocular stereo vision, can meet the navigation and target tracking needs in and the feasibility is complicated unknown

关 键 词：机器人 动力系统 导航 动态环境 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]