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| 移动机器人自主越障反应控制行为组合方法 | |
| 引用本文： | 徐正飞,杨汝清,陆际联,杨华.移动机器人自主越障反应控制行为组合方法[J].上海交通大学学报,2006,40(3):451-455. |
| 作者姓名： | 徐正飞 杨汝清 陆际联 杨华 |
| 作者单位： | 1. 北京理工大学,机器人中心,北京,100081;天津军事交通学院,汽车工程系,天津,300161 2. 上海交通大学,机器人研究所,上海,200030 3. 北京理工大学,机器人中心,北京,100081 4. 天津军事交通学院,汽车工程系,天津,300161 |
| 摘 要： | 介绍了关节式移动机器人运动系统的元(基本)行为,提出了用模糊逻辑组合方法将原子行为(动作)组合生成高层复杂行为的行为模糊逻辑组合方法;描述了模糊逻辑组合方法组合生成的移动机器人自主越障行为.通过凸台、凹坑和楼梯等典型障碍的越障实验证明,该方法所生成的行为控制自主越障动作协调性好,具有较高的实时性、快速性和可靠性.解决了关节式移动机器人在城区和建筑内运动的越障稳定性和移动性问题. |
| 关 键 词： | 关节式移动机器人 自主越障 行为组合 模糊逻辑组合方法 |
| 文章编号： | 1006-2467(2006)03-0451-05 |
| 收稿时间： | 2005-01-30 |
| 修稿时间： | 2005年1月30日 |
A Behavior Combination in Autonomous Negotiation Reactive Control for Mobile Robot |
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| XU Zheng-fei,YANG Ru-qing,LU Ji-lian,YANG Hua.A Behavior Combination in Autonomous Negotiation Reactive Control for Mobile Robot[J].Journal of Shanghai Jiaotong University,2006,40(3):451-455. | |
| Authors: | XU Zheng-fei YANG Ru-qing LU Ji-lian YANG Hua |
| Institution: | 1. Robotics Research Center, Beijing Inst. of Technology, Beijing 100081, China; 2. Dept. of Automotive Eng. , Tianjin Military Transport College, Tianjin 300161 ; 3. Robotics Research Inst. , Shanghai Jiaotong Univ. , Shanghai 200030 |
| Abstract: | This paper presented the meta-behavior(basic behavior) of a mobile robot motion system,proposed a fuzzy logical behavior combination method which combines metabehavior to create high level complex behavior using fuzzy logic principle;and described the behavior of automotive obstacles negotiation(using) the fuzzy logical behavior combination method to create the negotiate action for mobile robot.The(experiment) of negotiating typical obstacles,such as convex,concave obstacles and stairs,shows the behaviors created by this method control robot of negotiating obstacles have better coordination,higher performance of real-time,speediness and reliability.It can resolve the problems of negotiation stability and mobility for articulated mobile robot in the city zone and building. |
| Keywords: | articulated mobile robot autonomous negotiation behavior combination fuzzy logic combination method |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |