基于行为控制的移动机器人导航方法  

A Navigation Method for Mobile Robot Based on Behavior Control

作　　者：聂鑫[1] 王耀南[1] 余洪山[1] 

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙410082

出　　处：《计算机测量与控制》2011年第11期2699-2701,2710,共4页Computer Measurement &Control

基　　金：国家自然科学基金(60775047;61005068);国家863高技术研究发展计划(2008AA04Z214);国家支撑计划(2008BAF36B01);高等学校博士点基金新教师项目(200805321020)

摘　　要：针对移动机器人在完全未知或者部分未知的环境中进行自主导航容易陷入各种"陷阱"的问题,提出了一种基于多行为控制的导航方法;机器人通过激光雷达对周边环境进行感知,并将采集到的信息与行为转换条件进行匹配用于行为转换的决策;同时在该方法中通过栅格地图引入了记忆信息,从而增强机器人对周边环境的认知能力,从而提高机器人的决策能力;通过仿真实验证明了在简单环境中算法的有效性,同时也证明该算法对于某些复杂的环境有效可行,具有优化性、实时性与智能性的特点。Aiming at the problem that mobile robot is easily trapped when navigation in totally unknown or partially unknown environments, a behavior control based method is proposed in this paper. Robot senses the surrounding environment by means of laser radar, and match the collected information to conditions between each behavior to make conversion decisions. Furthermore, memory information is in- troduced through a grid map in the proposed method to enhance the robot＇s cognitive ability on the surrounding environment, and therefore the robot＇s decision--making capacity can be improved. For some simple environments, the simulation studies proved that the proposed method is effective. The simulation examples also verified the proposed method was applicable and equipped with optimization, real--time and intelligence features for some complex environments.

关 键 词：移动机器人 路径规划 行为控制 激光测距仪 未知环境 

分 类 号：TP303[自动化与计算机技术—计算机系统结构]