一种基于人机交互的移动机器人反应式导航方法

A Method of Mobile Robot Reactive Navigation Based on Human-Robot Interaction

针对未知环境中移动机器人的自主导航问题,提出了一种基于人机交互的反应式导航方法。在采用模糊逻辑实现机器人基本智能行为的基础上,利用基于优先级和有限状态机的混合行为协调方法建立"环境刺激-反应"机制,提高机器人的局部自主能力。提出将"人刺激-反应"机制引入机器人系统,提高机器人系统对环境的理解与决策能力。在不同环境模型中利用提出的方法对移向指定目标的机器人自主导航进行了仿真,仿真结果验证了该方法的有效性。

A method of mobile robot reactive navigation based on human-robot interaction is proposed to address the issue of mobile robot autonomous navigation under unknown environments.The fuzzy logic is utilized to implement the basic intelligent behaviors of the robot.The mixed behavior coordination method based on priority and finite state automata（FSA） is then used to set up the mechanism of environment stimulus-response so as to enhance the robot local autonomous ability.The mechanism of human stimulus-response which enables the robot system to understand the unknown environment well and make correct decisions is further proposed and imported in the robot system.The simulations in which the proposed navigation method is used for robot autonomous navigation toward the preset targets under various environments are performed.The effectiveness of the proposed method is validated by simulation results.