基于场景匹配的移动机器人避障

Obstacle avoidance based on scene matching for mobile robot

研究环境未知情况下移动机器人的避障问题,提出一种基于模糊场景匹配的移动机器人避障方法.该方法对多种传感器的信息进行融合,生成当前环境的场景并与场景库中的场景进行匹配,利用匹配结果并通过模糊控制器得到机器人的运动参数,对机器人的避障进行控制.实验结果表明了该方法的正确性和有效性.

The problem of obstacle avoidance for mobile robot in unknown environment is studied. A new obstacle avoidance method based on fuzzy scene matching is presented. Using sensor fusion, scene corresponding to current environment, which matches with the scenes in scene base, is obtained. According to the matching result, robot's motion parameters can be achieved through a fuzzy controller. These parameters are used to control robot for obstacle avoidance. Experiment results show the effectiveness and correctives of the method.