摘要
针对室内复杂环境,对于智能服务移动机器人,设计一个连续稳定的目标人跟踪算法是必要的。为此提出一种室内环境下基于行为的移动机器人对运动目标人进行跟踪的控制方法,该方法综合优先级裁决方法与模糊行为融合法选取移动机器人的控制行为,较好地解决跟踪过程中存在多种行为以及行为冲突问题,在完成运动避障的同时保持对运动目标的跟踪。对避障行为模块提出声纳距离加权平均法求取障碍物距离信息,采用模糊逻辑法设计避障控制器。在不同的实验环境下做了大量的实验,结果表明,该算法能实时稳定地跟踪上指定的目标人,不仅能绕开障碍物,而且能保持给定的初始距离。
The problem of Reliably and continuously following a specific person is stadied for the inteligent service mobile robots in dynamic indoor environment. In order to exhibit robust autonomous performance, behavior-based following control method for a mobile robot is proposed, which combines the subsumption method with the fuzzy behavior fusion method for action selection. A set of fuzzy rules are designed to implement the obstacles-avoidance behaviors based on sonar readings. The shortest escape-path tree method is proposed for escape the concave obstacles. Various experiments are carried out and the results show the robustness and reliability in person-following as well as the performance in obstacle-avoidances.
出处
《控制工程》
CSCD
北大核心
2011年第2期318-321,共4页
Control Engineering of China
基金
国家863计划资助项目(2006AA040202)
江苏省高校自然科学研究项目(09KJD520003)
国家青年自然科学基金(60804063)
常州市科技型中小技术创新资金计划(CN20090051)
关键词
移动机器人
目标人
跟踪
行为方法
mobile robot
target person
following
behavior-based algorithm
