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| 基于产生式规则的机器人动态避障 | |
| 引用本文： | 张倩,李铁军,陈虹宇,邵桂芳. 基于产生式规则的机器人动态避障[J]. 厦门大学学报(自然科学版), 2010, 49(2) |
| 作者姓名： | 张倩 李铁军 陈虹宇 邵桂芳 |
| 作者单位： | 1. 厦门大学信息科学与技术学院,福建,厦门,361005 2. 集美大学信息工程学院,福建,厦门,361021 3. 集美大学轮机学院,福建,厦门,361021 |
| 基金项目： | 国家自然科学基金，重庆市教委项目 |
| 摘 要： | 以中型自主足球机器人为对象,研究其动态避障情况.依据传感器输入信息进行特征识别,选择距离机器人最近的为首要躲避障碍,利用产生式规则进行机器人避障控制,对远距离和近距离障碍采用不同的避障策略,并引入虚拟点以躲避碰撞.在仿真和实时环境下进行了实验,分析了障碍位置不同和输入参数不同情况下的避障情况,并与传统人工势场法进行对比,避免了传统人工势场法进行机器人避障时会出现陷入局部极小、抖动等问题.实验结果表明该方法能使机器人快速有效的躲避障碍. |
| 关 键 词： | 机器人 动态避障 产生式系统 人工势场法 |
Obstacle Avoidance for Mobile Robot Based on Production Rule |
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| ZHANG Qian,LI Tie-jun,CHEN Hong-yu,SHAO Gui-fang. Obstacle Avoidance for Mobile Robot Based on Production Rule[J]. Journal of Xiamen University(Natural Science), 2010, 49(2) | |
| Authors: | ZHANG Qian LI Tie-jun CHEN Hong-yu SHAO Gui-fang |
| Affiliation: | ZHANG Qian1,LI Tie-jun2,CHEN Hong-yu3,SHAO Gui-fang1*(1.School of Information Science , Technology,Xiamen University,Xiamen 361005,China,2.School of Information Engineering,Jimei University,Xiamen 361021,3.School of Marine Engineering,China) |
| Abstract: | Taking middle-size soccer robot as object,its dynamic obstacle avoidance has been studied.According to the input information and character recognition,the nearer one is selected as the principal obstacle to avoid.Making use of production rule,the obstacle avoidance behavior of soccer robot is designed.Different avoidance strategies are devised to the remote and close obstacle.A virtue point is also proposed to avoid collision.Many experiments have been done under simulation and real game and contrast with t... |
| Keywords: | robot dynamic obstacle avoidance production system artificial potential field method |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |