基于模糊行为和未知环境下机器人安全体的移动机器人控制

2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI:10.1109/CIRA.2005.1554334

Fu Yili, Xu Hongyan, Wang Shuguo, L. Jianguo, Xu He, L. Han

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引用次数: 2

摘要

在对移动机器人未知环境进行分析的基础上，提出了机器人安全体、传感体和逻辑体与机器人物理体一起构成。针对复杂非结构化环境下的移动机器人，在机器人安全体的基础上，提出了一种基于开放模糊行为的控制体系结构。各种传感器对目标信息、障碍物信息和局部地形进行模糊化定位和导航。最后，我们的移动机器人在多种人工复杂环境下进行了大量的实验，验证了我们的机器人控制体系结构和机器人安全体的有效性，为我们在未知环境下移动机器人的进一步研究提供了坚实的支持。

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Mobile robot control based on fuzzy behavior and robot safety body in unknown environment

Based on the analysis of unknown environment for mobile robot, a robot safety body, sensing body and logic body are put forward with the robot physical body together. An open fuzzy behavior-based control architecture is then proposed on the basis of robot safety body for mobile robots in complex and unstructured environments. Many sensors in various kinds are used to localize and navigate with fuzzification on target information, obstacle information and local terrain. Finally, lots of experiments of our mobile robot are carried out in many kinds of man-made complex environments, and the control architecture and the robot safety body with our robot is proved valid, which give a solid support for our further research for mobile robot in unknown environments.

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2005 International Symposium on Computational Intelligence in Robotics and Automation

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