基于模糊行为决策的机器人主动寻径导航  

Mobile Robot Active Routing Navigation Based on Fuzzy Behavior Decision-making

作　　者：高静欣[1,2] 阮晓钢[1] 马圣策 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124 [2]北京服装学院信息工程学院,北京100029

出　　处：《北京工业大学学报》2014年第9期1308-1314,共7页Journal of Beijing University of Technology

基　　金：国家自然科学基金资助项目(61075110);北京市教育委员会科技计划重点资助项目(KZ201210005001)

摘　　要：针对在传统的机器人导航中,机器人行为的激发是一种被动过程,容易导致机器人的行为出现"缺乏规划性"的问题,类比于人类在未知环境中的寻路过程,提出了一种基于模糊行为决策的主动寻径方法.首先,在机器人的探测域内寻找可视点并确定最优子目标点;然后,对感知到的环境信息及最优子目标点信息进行分析以确定机器人所处环境;最后,设计了一种模糊控制器,并对机器人的行为进行规划并输出控制指令使得机器人实现避障且逃离半封闭区域,最终到达目标点.仿真结果验证了该方法的可行性和有效性.The robot＇s behavior is a passive response process in the traditional robot navigation, which easily makes the robot＇s behavior ＂lack of planning＂. This paper proposes an active routing navigation strategy to solve this problem, analogying with the process of human way-finding in an unknown environment. Mobile robot＇s behavior is based on fuzzy decision. First, the optimal intermediate goal is determined by using the visible point in the robot local sensing region. Then, the souronding of the robot is determined by analyzing the sensing environmental information and the optimal intermediate goal. Finally, based on the proposed fuzzy controller, the output control information is obtained to control the robot＇s behavior, enabling the robot to avoid obstacles and escape from semi-enclosed area and finally reach the ultimate goal. The feasibility and effectiveness of the proposed strategy is verified by simulation.

关 键 词：主动寻径 虚拟子目标 模糊控制器 移动机器人 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]