Study on the Navigation Method of Behavior Dynamics in Mobile Robot
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摘要: 对导航中存在碰撞危险和影响导航性能的情况进行分析,并提出解决办法。针对线速度控制受限仅能以低速行驶的问题,利用几何描述法分析航向角和线速度之间约束关系,揭示线速度受限的原因,提出航向角跟随控制。行为动力学方法在增加了航向角跟随控制后,可以克服线速度控制受限的问题,保证在提高线速度的情况下机器人仍能安全导航。Abstract: This paper studies the navigation method of behavior dynamics in mobile robot.First,this paper analyzes the existing problems in practical applications which would cause the risk of collision or influence the navigation performance,and puts forward corresponding solutions.To solve the problem that the robot can only be used in low speed navigation because the method's linear velocity control law is under restrictions,this paper analyzes the constraint relation between direction angle and linear velocity in robot navigation by using the geometrical description method,proposes direction angle follow control.The behavior dynamics with direction angle follow control can overcome robot's speed limit,and guarantee the safe navigation under increasing robot's linear velocity.
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Key words:
- control /
- dynamics /
- MATLAB /
- navigation
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