自主移动机器人的自反导航算法

Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI:10.1109/MFI.1994.398445

J. Vandorpe, H. Van Brussel

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引用次数: 20

摘要

提出了一种基于分布式计算机系统的鲁汶智能自治系统(LIAS)的自反式导航方法。移动机器人的目的是在动态的、模糊的、甚至完全未知的、非结构化的工厂环境中尽可能快速、安全地行进。该导航系统由反应性规划模块和低级模糊逻辑回避行为相结合组成，使机器人仅通过指定目标坐标即可移动到目标。一种融合算法将三种不同传感器的感知信息结合起来，实现对世界的精确建模。本文提出的导航方法在实际机器人上进行了测试，证明了该方法在实际应用中的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A reflexive navigation algorithm for an autonomous mobile robot

A new, reflexive type of navigation for the Leuven intelligent autonomous system (LIAS), implemented in a distributed transputer system, is presented. The mobile robot is meant to travel as fast and as safe as possible in a dynamic, vague or even completely unknown and unstructured factory environment. The navigation system consists of a reactive planning module combined with a low level fuzzy logic avoidance behaviour which enables the robot to move to a goal by only specifying the goal coordinates. A fusion algorithm combines perception information of three different sensors for accurate modelling of the world. The presented navigation method was tested with the real robot and it proved to be useful in real world applications.<>

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Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems

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