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基于多传感器行为融合基础上的AGV导航研究 被引量：4

Navigation Research of AGV Based-on Multi-sensors Behaviors Fusion
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摘要 详细分析了AGV导航系统的基本行为,并建立了避障行为、目标跟踪行为、沿墙壁行驶行为和紧急停止行为的模糊规则。在此基础上,构建基于多传感器的行为融合的导航系统,并用模糊神经网络对上述规则进行学习,仿真结果表明该行为融合可获得很好的导航效果。 The elementary behaviors of the AGV navigation were analyzed in detail and the fuzzy rules of obstacle avoidance, goal tracking, wall following and emergency brake were established. On this basis, the navigation system with behaviors fusion was designed based-on multi-sensors. Also the neuro-fuzzy network was used to study the rules. The results of simulation indicate that the behaviors fusion can obtain good navigation result.
作者 肖本贤 刘海霞 张松灿 赵明阳 齐东流
机构地区 合肥工业大学自动化研究所
出处 《系统仿真学报》 EI CAS CSCD 北大核心 2005年第8期1939-1943,共5页 Journal of System Simulation
关键词 AGV 行为融合 导航 模糊神经网络 AGV behaviors fusion navigation neuro-fuzzy network
分类号 TP391.9 [自动化与计算机技术—计算机应用技术]
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参考文献8

  • 1Xiaochuan Wang, Simon X.Yang. Intelligent Obstacle Avoidance for an Autonomous Mobile robot [R]. Proceedings of 5 World Congress on Intelligent Control and Automation, June15-19, 2004, Hangzhou, P.R.China, 4656-4660.
  • 2Qiang Fang, Cunxi Xie. A Study on Intelligent Path Following and Control for Vision-based Automated Guided Vehicl [R]. Proceedings of 5 World Congress on Intelligent Control and Automation, June 15-19, 2004, Hangzhou, P.R.China, 4811-4815.
  • 3Petru Rusu, Emil M.petriu, Thom E.Whalen, etal. Behavior-Based Neuro-fuzzy Controller for Mobile Robot Navigation [J]. IEEE Transactions on Instrumentation and Measurement, 2003, 52(4): 1335-1340.
  • 4Xiaochuan Wang, Simon X.Yang. A Neuro-Fuzzy Approach to Obstacle Avoidance of a Nonholonomic Mobile Robot [R]. Proceedings of the 2003 IEEE/ASM. Advanced Intelligent Mechatronics, 29-34.
  • 5Jean Bosco Mbede, Associate Member, Xinhan Huang, etal. Robust Neuro-Fuzzy Sensor-Based Motion Control Among Dynamic Obstacles for Robot Manipulators[J].IEEE Transactions on Fuzzy Systems, 2003, 11(2): 249-259.
  • 6Siripun Thongchai, Kazuhiko Kawamura. Application of Fuzzy Control to a Sonar-Based Obstacle voidance Mobile Robot [R]. Proceedings of the 2000 IEEE International Conference on Control Applications Anchorage, Alaska, USA, September 25-27, 2000, 425-430.
  • 7Kai-Tai Song, Charles C. Chang. Reactive Navigation in Dynamic Environment Using a Multi-sensor Predictor [J]. IEEE Transactions on System, MAN, and cybernetics-part B: cybernetics, 1999, 29(6): 870-878.
  • 8C Barret, M Benreguieg, H Maaref. Fuzzy agent for reactive navigation of a mobile robot [R]. 1997 First International Conference on Knowledge-Based Intelligent Electronic Systems, 21-23 May 1997, Adelaide, Australia. Editor, L.C.Jain, 649-657.

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系统仿真学报
2005年 第8期

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