A Obstacle Avoidance and Navigation Method for the Mobile Robot
-
摘要: 提出了一种移动机器人的避障与导航方法。该方法充分考虑了人类感知、推理和决策的不确定性以及人类避障与导航的特点,基于云模型构建了一种同时具备随机性和模糊性的高鲁棒性的拟人决策算法,主要包括障碍物避让规则库、目标吸引规则库、方位偏差和距离前件正态云模型、转角后件正态云模型以及通行函数的设计,提高了移动机器人的人工智能水平,从而降低了系统对传感器和执行器性能的苛刻要求。通过理论分析计算和建模仿真试验,验证了所提出新方法的有效性。Abstract: A novel method of obstacle avoidance and navigation is presented for mobile robots. Based on cloud models, the uncertainty of human being perception, reasoning and decision as well as the characteristics of human being collision avoidance and navigation are taken into account adequately. An anthropopathic decision making algorithm with the randomness meanwhile fuzziness is constructed based on cloud models, mainly includes the designs of rules for obstacles avoidance and object attracting, Gaussian cloud model of azimuth deviation, distance offset and steering angle, pass function. The method is possible to meet with the requirements of low computational cost and low precision for sensors as well as improvement of the artificial intelligence (AI). Theoretical analysis and simulation experiment show that the proposed method is effective.
-
Key words:
- cloud model /
- collision avoidance /
- decision making /
- navigation /
- robot
-
[1] Cherubini A, Chaumette F. Visual navigation with obstacle avoidance[C]//Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco, CA, USA:IEEE, 2011:1593-1598 [2] 李舜酩,沈峘,鲍庆勇.未知环境下基于行为控制的智能车辆路径规划研究[J].传感器与微系统,2010,29(4):67-70 Li S M, Shen H, Bao Q Y. Research on intelligent vehicle path planning Based on behavior control in unknown environments[J]. Transducer and Microsystem Technologies, 2010,29(4):67-70(in Chinese) [3] Huq H, Mann G K I, Gosine R G. Mobile robot navigation using motor schema and fuzzy context dependent behavior modulation[J]. Applied Soft Computing, 2008,8(1):422-436 [4] 曹凯,周芦芦,张政新.基于道路势场的智能车辆机动驾驶控制算法[J].系统仿真学报,2011,23(10):2206-2210 Cao K, Zhou L L, Zhang Z X. Controlled algorithm for intelligent vehicle maneuver driving based on road potential field[J]. Journal of System Simulation, 2011,23(10):2206-2210(in Chinese) [5] Li Y C, He K Z. A novel obstacle avoidance and navigation method of outdoor mobile robot[C]//Proceedings of the 12th International Conference on Advanced Robotics. Seattle, WA:IEEE, 2005:653-656 [6] 欧阳正柱,何克忠.基于势场法的智能移动机器人导航控制[J].计算机工程与应用,2001,37(16):128-130 Ouyang Z Z, He K Z. The intelligent mobile robot navigation control base on potential field methods[J]. Computer Engineering and Applications, 2001,37(16):128-130(in Chinese) [7] 李云翀,何克忠.基于激光雷达的室外移动机器人避障与导航新方法[J].机器人,2006,28(3):275-278 Li Y C, He K Z. A novel obstacle avoidance and navigation method for outdoor mobile robot based on laser radar[J]. Robot, 2006,28(3):275-278(in Chinese) [8] 蔡自兴,郑敏捷,邹小兵.基于激光雷达的移动机器人实时避障策略[J].中南大学学报(自然科学版),2006,37(2):324-329 Cai Z X, Zheng M J, Zou X B. Real-time obstacle avoidance for mobile robots strategy based on laser radar[J]. Journal of Central South University (Science and Technology), 2006,37(2):324-329(in Chinese) [9] Khatib O. Read-time obstacle avoidance for manipulators and mobile robots[C]//Proceedings of IEEE International Conference on Robotics and Automation. St. Louis, MO:IEEE, 1985:500-505 [10] Borenstein J, Koren Y. The vector field histogram fast obstacle avoidance for mobile robots[J]. IEEE Transaction on Robotics and Automation, 1991,7(3):278-288 [11] 李华,丁冬花,何克忠.THMR-V导航控制算法的研究[J].机器人,2001,23(6):525-530 Li H, Ding D H, He K Z. Research on navigation control algorithm about THMR-V[J]. Robot, 2001,23(6):525-530(in Chinese) [12] 徐德,邹伟.室内移动式服务机器人的感知、定位与控制[M].北京:科学出版社,2008 Xu D, Zou W. The perception, location and control of indoor mobile service robot[M]. Beijing:Science Press, 2008(in Chinese) [13] 李德毅,杜鹢.不确定性人工智能[M].北京:国防工业出版社,2005 Li D Y, Du Y. Artificial intelligence with uncertainty[M]. Beijing:National Defense Industry Press, 2005(in Chinese) [14] Li D Y, Cheung D W, Shi X M, et al. Uncertainty reasoning based on cloud models in controllers[J]. Computers & Mathematics with Applications, 1998,35(3):99-123 [15] Li D Y, Chen H Fan J H, et al. A novel qualitative control method to inverted pendulum systems[C]//Proceedings of the 14th International Federation of Automatic Control World Congress. Beijing:IFAC, 1999:485-490
点击查看大图
计量
- 文章访问数: 112
- HTML全文浏览量: 26
- PDF下载量: 7
- 被引次数: 0