Design of behavior-based avoiding barriers system of mobile robot

JIA Peng1; HUANG Yu-mei1; WANG Xiao-yue2; FAN Bing-hui3

doi:10.13873/j.1000-97872007.06.013

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Design of behavior-based avoiding barriers system of mobile robot

更新时间：2025-09-11

- Design of behavior-based avoiding barriers system of mobile robot
- Issue 6, Pages: 70-72(2007)
- 作者机构：
  
  1. 西安理工大学
  2. 山东理工大学
  3. 山东科技大学,陕西,西安,710048
  4. ,山东,青岛,266510
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872007.06.013
  CLC： TP242
- Published：2007
- 稿件说明：
移动端阅览
[1]贾鹏,黄玉美,王效岳,樊炳辉.基于行为的移动机器人避障系统的设计[J].传感器与微系统,2007(06):70-72.

JIA Peng1, HUANG Yu-mei1, WANG Xiao-yue2, et al. Design of behavior-based avoiding barriers system of mobile robot[J]. 2007, (6): 70-72.
[1]贾鹏,黄玉美,王效岳,樊炳辉.基于行为的移动机器人避障系统的设计[J].传感器与微系统,2007(06):70-72. DOI： 10.13873/j.1000-97872007.06.013.

JIA Peng1, HUANG Yu-mei1, WANG Xiao-yue2, et al. Design of behavior-based avoiding barriers system of mobile robot[J]. 2007, (6): 70-72. DOI： 10.13873/j.1000-97872007.06.013.

摘要

随着机器人应用范围的不断扩展

机器人所面临的工作环境也越来越复杂

多数是未知的、动态的和非结构化的。通过对基于行为的机器人控制技术的研究

提出了一种实用的自主移动机器人智能避障控制方案

阐述了其具体实现技术;将基于行为的控制技术融合进模糊控制的思想中

使移动机器人的行为通过运用模糊控制和基于优先度的行为决策来实现。试验证明了这一方法的有效性和实时性。

Abstract

As the robot application range extends constantly

its working condition is getting more complex

which is always unknown

dynamic and unstructured.Through exploring the behavior-based robot control technology

the intelligent avoiding barriers control system design of an autonomous mobile robot is presented.And the implementation technology of this scheme is introduced;In the designed mobile robot control system

behavior-based control is integrated with the concept of fuzzy control theory

the multiple objective missions are realized through fuzzy control and priority-based decision.Experiment results show its effectiveness and real-time ability.

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references

基于视觉和超声信息的机器人行为控制 [J]. 徐江伟,岳宏,赵海文,杜春红. 仪器仪表学报 . 2006(07)

基于行为的轮式移动机器人导航控制 [J]. 李磊,曹志强,侯增广,谭民. 控制与决策 . 2004(06)

机器人编程技术[M]. 机械工业出版社 , (美)JosephL.Jones著, 2006

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