Mobile Robot Combination Autonomous Behavior Strategy to Inspect Hazardous Gases in Relatively Narrow Man–Machine Environment  

作　　者：Xueshan Gao Qingfang Zhang Mingkang Li Bingqing Lan Xiaolong Fu Jingye Li 

机构地区：[1]School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China [2]School of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou 545006,China [3]Xi’an Modern Chemistry Research Institute,Xi’an 710065,China.

出　　处：《Chinese Journal of Mechanical Engineering》2022年第6期110-122,共13页中国机械工程学报（英文版）

基　　金：Research and Development Program of Xi’an Modern Chemistry Research Institute of Chnia(Grant No.204J201916234/6);Key Project of Liuzhou Science and Technology Bureau of China(Grant No.2020PAAA0601).

摘　　要：Selecting the optimal speed for dynamic obstacle avoidance in complex man–machine environments is a challenging problem for mobile robots inspecting hazardous gases.Consideration of personal space is important,especially in a relatively narrow man–machine dynamic environments such as warehouses and laboratories.In this study,human and robot behaviors in man–machine environments are analyzed,and a man–machine social force model is established to study the robot obstacle avoidance speed.Four typical man–machine behavior patterns are investigated to design the robot behavior strategy.Based on the social force model and man–machine behavior patterns,the fuzzy-PID trajectory tracking control method and the autonomous obstacle avoidance behavior strategy of the mobile robot in inspecting hazardous gases in a relatively narrow man–machine dynamic environment are proposed to determine the optimal robot speed for obstacle avoidance.The simulation analysis results show that compared with the traditional PID control method,the proposed controller has a position error of less than 0.098 m,an angle error of less than 0.088 rad,a smaller steady-state error,and a shorter convergence time.The crossing and encountering pattern experiment results show that the proposed behavior strategy ensures that the robot maintains a safe distance from humans while performing trajectory tracking.This research proposes a combination autonomous behavior strategy for mobile robots inspecting hazardous gases,ensuring that the robot maintains the optimal speed to achieve dynamic obstacle avoidance,reducing human anxiety and increasing comfort in a relatively narrow man–machine environment.

关 键 词：Social force model Man–machine behavior pattern Dynamic obstacle avoidance 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]