移动机器人避障行为酶数值膜控制器

Mobile Robot Membrane Controller Design with Enzymatic Numerical P Systems for Obstacle Avoidance Behavior

为了兼顾膜控制器控制下的移动机器人行走速度和避障效果,提出了一种基于酶数值膜系统的自适应巡航速度避障控制方法.该方法采用酶数值膜系统结构,利用膜之间的信息交流,实现多个膜融合多个传感器的距离信息,根据融合距离信息自适应调节巡航速度,使移动机器人能够有效的避开障碍物,同时兼顾无障碍物时移动机器人行走速度.基于移动机器人Pioneer3-DX的仿真和实物实验表明:该方法设计的酶数值膜控制器可行且避障控制效果更优.

In order to balance the cruise speed and performance of obstacle avoidance for mobile robots controlled by membrane controller,an adaptive cruise speed obstacle avoidance method based on enzymatic numerical P systems (ENPS) is proposed.The method adopts the enzymatic numerical P systems and uses membranes to fuse multiple sensors’ distance values.The cruise speed is adjusted by the sensors’ fusion value.Moreover,the method helps mobile robots avoiding obstacles effectively and keeps a high robot speed when there is no obstacle.Both the simulation and practical experiments on robot Pioneer 3-DX show that the enzymatic numerical membrane controller designed by the proposed method is feasible,and the effect of the controller is better.