基于产生式规则的机器人动态避障  

Obstacle Avoidance for Mobile Robot Based on Production Rule

作　　者：张倩[1] 李铁军[2] 陈虹宇[3] 邵桂芳[1] 

机构地区：[1]厦门大学信息科学与技术学院,福建厦门361005 [2]集美大学信息工程学院,福建厦门361021 [3]集美大学轮机学院,福建厦门361021

出　　处：《厦门大学学报（自然科学版）》2010年第2期166-170,共5页Journal of Xiamen University：Natural Science

基　　金：国家自然科学基金(60443004);重庆市教委项目(KJ080621)

摘　　要：以中型自主足球机器人为对象,研究其动态避障情况.依据传感器输入信息进行特征识别,选择距离机器人最近的为首要躲避障碍,利用产生式规则进行机器人避障控制,对远距离和近距离障碍采用不同的避障策略,并引入虚拟点以躲避碰撞.在仿真和实时环境下进行了实验,分析了障碍位置不同和输入参数不同情况下的避障情况,并与传统人工势场法进行对比,避免了传统人工势场法进行机器人避障时会出现陷入局部极小、抖动等问题.实验结果表明该方法能使机器人快速有效的躲避障碍.Taking middle-size soccer robot as object,its dynamic obstacle avoidance has been studied. According to the input information and character recognition, the nearer one is selected as the principal obstacle to avoid. Making use of production rule, the obstacle avoidance behavior of soccer robot is designed. Different avoidance strategies are devised to the remote and close obstacle. A virtue point is also proposed to avoid collision. Many experiments have been done under simulation and real game and contrast with the traditional artificial potential field method. In terms of the variety of obstacle position and input parameter, the experiment results are analyzed. The chattering and local minimal questions of traditional artificial potential field are avoided. Experiment results have shown the validity of the method proposed in this paper,and this method can make robot quickly and effectively to avoid the obstacle.

关 键 词：机器人 动态避障 产生式系统 人工势场法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]