未知环境下基于行为的移动机器人导航系统研究  

Behavior-based Navigation System of Mobile Robot in Unknown Environment

作　　者：刘达才 刘治[1] 

机构地区：[1]广东工业大学自动化学院,广东广州510000

出　　处：《工业控制计算机》2017年第12期28-30,共3页Industrial Control Computer

基　　金：国家自然科学基金重点项目;教育部博士点基金;清华大学985项目

摘　　要：针对未知环境下移动机器人路径规划和提高自主导航安全性问题,提出未知环境下基于行为的移动机器人导航系统设计;根据激光传感器接收的障碍物距离方位信息和视觉传感器接收的行人距离方位信息,将路径规划分成朝着目标点方向直行行为、沿着墙走行为、不安全距离避障行为和避让行人行为;在包含凹凸障碍物和行人的未知环境中进行仿真实验。仿真结果表明,移动机器人能够克服环境中的不确定性,体现了该导航策略的有效性和正确性。To the problem of mobile robot path planning and improve the autonomous navigation safety issues in unknown environment,behavior-based navigation system of a mobile robot is presented in this paper.Based on the distance and orientation information of obstacles received by the laser sensor and pedestrians received by the vision sensor,path planning is divided into go-to-goal,following wall,avoiding obstacles in unsafe distance,and avoiding pedestrians.Simulation experiments are carried out in an unknown environment including convex and concave objects and pedestrians.

关 键 词：未知环境 移动机器人 行为思想 凹凸障碍物 行人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]