移动机器人漫游行为的研究

Research of roaming behavior for the mobile robot

针对不确定环境下移动机器人的复杂运行情况,利用声纳传感器探测的环境信息,设计了漫游行为中的紧急行为、避障行为和自由行为,并制定了行为融合规则,依据融合结果计算出下一步的行为动作.在自由行为的设计中,利用随机动作概念解决传统算法中存在的死锁问题.对算法进行仿真表明,算法有效可行,能够实现机器人的漫游行为.

This paper proposes a design method of roaming behavior for the mobile robot under uncertain and complex running circumstances.An emergency behavior,obstacle avoidance behavior and free behavior are designed using the environment information detected by sonar sensors.The three behaviors are fused to calculate the next performed action of the robot.A concept of random is used to solve the deadlock problem of traditional designing algorithms in the design of free behavior.At last the algorithm has been tested in simulated environment.Simulation results show that the algorithm is effective and feasible,and can realize the robot roaming behavior.