摘要
针对移动机器人的动态避障和路径规划问题,以AS-R移动机器人为平台,设计了一种基于行为分析的动态避障策略。根据避障问题将移动机器人整个运行过程中的行为划分成趋向目标行为、避障行为、沿墙走行为及紧急避障4种行为,有效实现了机器人的动态避障,并解决了两种避障难题:左右摆动问题和凹型障碍物问题。利用多传感器结合检测方法,通过红外传感器减少盲区和镜面反射带来的误差,通过间隔采样或分组采样技术避免多路串扰问题;对均值滤波与中值滤波进行实验对比后,提出一种递推型中值滤波方法,从而提高了数据在空间和时间上的连续性,有效地减少了超声波随机串扰信号及其它干扰信号,进而提高了探测模块的准确度。最后设计了几种复杂环境下机器人的动态避障和路径规划,并验证了所提方法的有效性。
Aiming at the problem of obstacle avoidance for mobile robot with the platform of AS-R mobile robot, a novel approach based on behavior for dynamic obstacle avoidance was put forward, which divides the robot behavior during the entire run into four behaviors, including tendency to target behaviors, obstacle avoidance behavior, going along the wall and emergency obstacle avoidance behavior of four acts, including obstacle avoidance behavior. A multi-sensor- based autonomous mobile robot obstacle avoidance mechanism was designed. A recursive median filter-based method was proposed to avoid erosstalk by grouping sampling or interval sampling technologys. The data was improved in both space and time continuity. The ultrasonic signal crosstalk and other interference random signals were effectively reduce＆ Experiments based on both simulation platform and AS-R robot verified the effectiveness of the proposed approach.
出处
《计算机科学》
CSCD
北大核心
2012年第3期222-226,共5页
Computer Science
基金
基于人工免疫和移动代理的无线传感器网络轻量级入侵检测研究(Y1100378)资助
关键词
AS-R移动机器人
行为分析
模糊逻辑
动态避障
路径规划
AS-R mobile robots, Behavior analysis, Fuzzy logic, Dynamic obstacle avoidance, Path planning
