摘要
针对机器人在未知环境下避障的要求,设计了一个结合目标点位置信息和局部障碍物信息的评价函数实时导航算法,使机器人可以在无碰撞的情况下较快地到达目标点。该算法以二维激光雷达作为探测环境的主要传感器,采用基于行为的控制策略及模糊控制器技术,通过添加自由出口提高其路径搜寻的效率,最后为了验证此模糊路径规划方法进行了仿真实验。仿真实验结果表明,该算法具有良好的效果,机器人可以有效避障,且轨迹平滑、实时性好。
An evaluation function was designed by integrating the target location information and the local obstacles information in unknown environtnent. With the function the robot could reach the target quickly without collision. The real-time algorithm which took two-dimensional laser radar as its main sensor was behavior-based algorithm, eomhined with fuzzy inference algorithm. The addition of the free access enhaneett tile efficiency of the search path. The simulation experiment shows that the algorithm has a good effeet, the robot effective obstaele avoidance, smooth track and real-time good.
出处
《机电工程》
CAS
2009年第1期1-4,共4页
Journal of Mechanical & Electrical Engineering
基金
国家自然科学基金资助项目(10702001)
关键词
路径规划
行为
模糊控制
激光雷达
path planning
behavior
fuzzy, control
laser radar
