AS-R移动机器人的动态避障与路径规划研究
陈晋音;杨东勇;邹青华
【期刊名称】《计算机科学》 【年(卷),期】2012(039)003
【摘要】Aiming at the problem of obstacle avoidance for mobile robot with the platform of AS-R mobile robot, a novel approach based on behavior for dynamic obstacle avoidance was put forward, which divides the robot behavior during the entire run into four behaviors, including tendency to target behaviors, obstacle avoidance behavior, going along the wall and emergency obstacle avoidance behavior of four acts, including obstacle avoidance behavior. A multi-sensor-based autonomous mobile robot obstacle avoidance mechanism was designed. A recursive median filter-based method was proposed to avoid crosstalk by grouping sampling or interval sampling technologys. The data was improved in both space and time continuity. The ultrasonic signal crosstalk and other interference random signals were effectively reduced. Experiments based on both simulation platform and AS-R robot verified the effectiveness of the proposed approach.%针对移动机器人的动态避障和路径规划问题,以AS-R移动机器人为平台,设计了一种基于行为分析的动态避障策略.根据避障问题将移动机器人整个运行过程中的行为划分成趋向目标行为、避障行为、沿墙走行为及紧急避障4种行为,有效实现了机器人的动态避障,并解决了两种避障难题:左右摆动问题和凹型障碍物问题.利
AS-R移动机器人的动态避障与路径规划研究
