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Mobile robot multi-behavior syncretizing automatic navigation method under unknown environment

A technology for mobile robots and unknown environments. It is applied in the field of robot navigation and intelligent control. It can solve the problems of lack of reliability and adaptive solutions, and achieve the goals of omitting the defuzzification process, optimizing navigation weight parameters, and improving adaptability. Effect

Inactive Publication Date: 2009-01-28
HUNAN UNIV
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Problems solved by technology

[0004] At present, in order to achieve efficient robot control in complex environments, fuzzy control, neural network, genetic algorithm and other theories have been introduced into the design of sub-behavior controllers and research on coordination and fusion strategies between sub-behaviors, but there is still a lack of high reliability, adaptive Strong solution

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  • Mobile robot multi-behavior syncretizing automatic navigation method under unknown environment
  • Mobile robot multi-behavior syncretizing automatic navigation method under unknown environment
  • Mobile robot multi-behavior syncretizing automatic navigation method under unknown environment

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Embodiment 1

[0039] The system structure diagram of the present invention is as figure 1 as shown ( figure 1 FSVM is a fuzzy support vector machine), the input signal is azimuth and 8 distance parameters, and the navigation behavior is divided into three sub-behaviors: running to the target, walking along the wall, and avoiding obstacles. The information obtained by the sensor is sent to the sub-behavior controller and Environment recognition controller. The output of the sub-behavior controller is the robot's rotation angle θ and motion speed v, and the output of the environment identification controller is the matching degree between the sub-behavior and the current environment. The sum of the product of the output of the sub-behavior controller and the output of the corresponding environment recognition controller is the output of the entire navigation system, which controls the steering and speed of the mobile robot. The rotation angle θ and the motion velocity v are used to realize ...

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Abstract

The invention discloses a multi-behavior combining auto-navigation method for a mobile robot in an unknown environment. The method is characterized in that the method comprises the following steps that (1) current azimuth angle is obtained in real time according to the relative positions of an object and the mobile robot, and a plurality of distance parameters are obtained in real time according to the status of obstacles around the mobile robot; (2) a multi-output support vector machine fuzzy controller outputs a corner value Theta i and a velocity value vi according to the obtained azimuth angle and distance parameters, wherein i is equal to 1, 2 or 3; (3) a multi-output support vector machine environmental-identification controller inputs signals and outputs weight parameters wi of three subbehaviors according to input signals of the azimuth angle and the distance parameters, wherein i is equal to 1, 2 or 3; and (4) current corner value Theta i and velocity value vi of the mobile robot used for navigation are calculated according to the formula. The multi-behavior combining auto-navigation method adopts intelligent control strategy, and has the advantages of strong self adaptation, high navigation reliability and excellent effect.

Description

technical field [0001] The invention belongs to the field of robot navigation and intelligent control, and relates to a multi-behavior fusion automatic navigation method for a mobile robot in an unknown environment. Background technique [0002] In the past 20 years, with the rapid development of artificial intelligence technology and computer technology, research on autonomous intelligent mobile robots has received significant attention. At present, intelligent mobile robots are widely used in industry, agriculture, transportation, military, medical and health industries to solve work problems in dangerous environments and replace human heavy work. In order to improve the working ability and application range of mobile robots in unknown environments, the research on autonomous navigation of mobile robots is a key problem that needs to be solved urgently. [0003] For a mobile robot, navigation capability is one of its most important functions. The robot first needs to avoi...

Claims

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Application Information

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IPC IPC(8): G05D1/12G05B13/02
Inventor 王耀南朱江余洪山许海霞杨民生宁伟孙程鹏邓霞
Owner HUNAN UNIV
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