基于模糊行为决策的机器人主动寻径导航.pdfVIP

中国科技论文在线 基于模糊行为决策的机器人主动寻径导航# 阮晓钢，高静欣，马圣策* （北京工业大学电子信息与控制工程学院，北京 100124） 5 摘要：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，这容易导致机器人的行 为出现“缺乏规划性”的问题。针对这一问题，类比于人类在未知环境中的寻路过程，本文提 出了一种基于模糊行为决策的主动寻径方法。该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以及最优子目标点信息进行分析以确定机器人 所处环境，最后基于本文设计的一种模糊控制器，对机器人的行为进行规划并输出控制指令 10 使得机器人实现避障且逃离半封闭区域，最终到达目标点。仿真结果验证了本文提出方法的 可行性和有效性。 关键词：移动机器人；主动寻径；虚拟子目标；模糊控制器 中图分类号：TP242 15 Mobile Robot Active Routing Navigation Based on Fuzzy Behavior Decision-Making RUAN Xiaogang, GAO Jingxin, MA Shengce (School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124) 20 Abstract: The robots behavior is a passive response process in the traditional robot navigation, easily making the robots behavior lack of planning. We propose 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, determining 25 the souronding of the robot by analyzing the sensing environmental informationg and the optimal intermediate goal. Finally, based on the proposed fuzzy controller the output control information in given to control the robots behavior, enabling the robot to avoid obstacles and escape from semi-enclosed area and finally reach the ultimate goal. The feasibility and effec