A sensor-based motion planner: Situated-Bug  

作　　者：居鹤华 崔平远 崔祜涛 

机构地区：[1]Deep Space Exploration Research Center, Harbin Institute of Technology [2]School of Electronic Information and Control Engineering, Beijing University of Technology

出　　处：《Journal of Harbin Institute of Technology(New Series)》2003年第4期353-357,共5页哈尔滨工业大学学报（英文版）

摘　　要：Propose a new sensor-based motion planning approach of Situated-Bug, which is composed of goal-oriented behavior, boundary following behavior and goal-oriented obstacle avoidance behavior, which are based on fuzzy control. The situated-Bug selects its behaviors according to robot orientation, instead of positions and hit points like other Bug algorithms, and its convergence proves robust to sensor noise, and it can guide the robots running for long rang traverse. At the same time, the design of the Situated-Bug is presented. Simulation results show that the approach is effective and practical.Propose a new sensor-based motion planning approach of Situated-Bug, which is composed of goal-oriented behavior, boundary following behavior and goal-oriented obstacle avoidance behavior, which are based on fuzzy control. The situated-Bug selects its behaviors according to robot orientation, instead of positions and hit points like other Bug algorithms, and its convergence proves robust to sensor noise, and it can guide the robots running for long rang traverse. At the same time, the design of the Situated-Bug is presented. Simulation results show that the approach is effective and practical.

关 键 词：Situated-Bug motion-planning behavior control fuzzy control robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]