摘要
利用非线性微分动力系统稳定性理论,构造了移动机器人的点吸引子奔向目标行为和点排斥子避障行为两种行为模式,并将奔向目标行为和避障行为相结合,利用遗传算法控制这两种行为的权值系数,使机器人能够根据所处环境的变化调整行为模式的权值,实现行为间的竞争,从而建立起基于动态方法的智能机器人行为动态导航模型。仿真结果表明,该导航方法规划的路径轨迹曲线过渡光滑,易于实现机器人运动控制,说明该导航方法可行且有效。
Two behavioral modes of mobile robot, i.e. a point attractor toward target navigation behavior and a point repeller toward obstacle avoidance behavior are constructed using the stability theory of nonlinear differential dynamical system, and with the combination of target navigation behavior with obstacle avoidance behavior. The genetic algorithm is used to control the weight coefficient so as to make the robot adjust the weight values of behavior modes in terms of its environ changes and to achieve the competitions among behaviors, whereby establishing the dynamic navigation model of intelligent robot behaviors based on the dynamic method. The simulation results indicate that the pathway trace curve planned by this navigation method is oversmooth and easy to realize the robot motion control, thus, demonstrating that this navigation method is feasible and effective.
出处
《西安理工大学学报》
CAS
2008年第3期290-294,共5页
Journal of Xi'an University of Technology
基金
陕西省重点实验室重点科研计划项目(05JS29)
