摘要
“感知-动作”行为(perception-action behavior),又称基于感知行为(sensor-based behavior)的研究是当前人工智能中一项普遍受到重视的课题.本文以移动机器人的自动避障行为为背景,研究了基于环境势场法的“感知-动作”行为,提出了时变势场动态位的概念,建立了移动机器人环境势场的数学模型,并运用所提出的模型实现了移动机器人THMR-Ⅱ的低层控制.实践表明,这类系统结构简单、性能良好,实时性和鲁棒性很强。这是一项值得深入研究的人工智能新课题.
This paper presents an efficient method for implementing mobile robot 'per-ceprion-action' behaviors based on time-varing potential field. The major contribution is that the concept of dynamic potential U(x,y,z,t) is proposed to achieve the control scheme. The scheme is successfully implemented on THMR-11 mobile robot for avoiding obstacles, tracing objects, following corridors, following edges, etc. A lot of experimental results based on sonar signal are given to show that the method has better real-time response, adaptability and robust in dynamic environment.
出处
《计算机学报》
EI
CSCD
北大核心
1993年第2期89-96,共8页
Chinese Journal of Computers
基金
国家教委博士点基金
关键词
环境势场法
感知-动作
人工智能
Environment potential field, dynamic obstacle avoidance, perception-action behavior.
