动态环境下移动机器人导航行为函数建模  

A Behavior Function Model on Mobile Robot Navigation in Dynamic Environment

作　　者：王泽兵[1,2] 杨卫[1,2] 秦丽[1,2] 张晓明 

机构地区：[1]中北大学电子测试技术国防重点实验室,山西太原030051 [2]中北大学仪器科学与动态测试教育部重点实验室,山西太原030051

出　　处：《中北大学学报（自然科学版）》2014年第5期547-552,共6页Journal of North University of China(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61004127);山西省回国留学人员科研资助项目(2013-077)

摘　　要：针对机器人自主导航中行为划分较多的问题,机器人依据自身感知数据建立了个体动态决策空间,并在此空间内建立了方向角函数和速率函数.分别给出了函数的设计过程,通过动态修正行为函数参数,快速有效地调整机器人方向角及速率,能够成功实现避障和目标点的奔向过程.由于函数建模是基于个体决策空间进行的,所以该方法不受机器人数量的限制,有效地提高了系统的分布式特性.通过仿真验证了该方法的可行性和有效性,并分析了行为函数参数对机器人导航过程的影响.For the problem that there have been lots of behavior functions in autonomous mobile robots naviga- tion, a individual dynamic decision space was established in terms of sensory data by robots themselves. Then two behavior functions consist of orientation angle function and speed function were designed in the decision space, and the design processes of behaviors were proposed respectively. The orientation angle and speed could be quickly and effectively adjusted with the dynamic correcting of the behavior function parameters. Avoiding obstacle and moving to the target point could be achieved in a dynamic environment in this approach. Due to the function modeling is based on individual decision space, so this method is not restricted by the number of robots, the distributed nature of the system is effectively improved. The feasibility and effectiveness had been verified through the simulation, meanwhile the influence on robot navigation with respect to the parameter was analyzed.

关 键 词：机器人导航 动态决策空间 方向角函数 速率函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]