未知环境下的移动机器人主动寻径导航策略

Mobile robot active path planning in unknown environment

针对纯粹反应式的导航算法有时会出现没有远见现象的问题,设计了一种基于行为和路径子目标的主动寻径导航策略。该策略首先利用目标点和远距离传感器的信息生成可行路径子目标点,接着使用决策树实现快速的行为决策。仿真结果证明了有效性。

The purely reactive navigation algorithms may result in a shortsighted phenomenon. So, an active path planning strategy based on the behavior and intermediate goal for mobile robot was produced. The information about the global goal and the long- range sensory data are used to produce an intermediate goal, and then the behavior decision tree is presented for navigation control. Simulation results are provided to demonstrate the feasibility of the proposed method.