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Multi-behavior fused enzyme numerical membrane control method for mobile robot in unknown environment

A mobile robot, control method technology, applied in non-electric variable control, control/regulation system, two-dimensional position/channel control and other directions, to achieve the effect of solving deadlock problems and detour problems

Inactive Publication Date: 2019-01-08
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology

Studies have shown that theoretically, the membrane computing model has the same computing power as the Turing machine, and even has the possibility of surpassing the limitations of the Turing machine.

Method used

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  • Multi-behavior fused enzyme numerical membrane control method for mobile robot in unknown environment
  • Multi-behavior fused enzyme numerical membrane control method for mobile robot in unknown environment
  • Multi-behavior fused enzyme numerical membrane control method for mobile robot in unknown environment

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Embodiment Construction

[0034] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0035] The numerical membrane control flow chart of the multi-behavior fusion enzyme is as follows: figure 1 .

[0036] The specific related technology that the present invention adopts is as follows:

[0037] 1) Put the mobile robot in an unknown environment with the unknown environment and robot target as input, given the target point to be reached by the robot (x g ,y g ). According to the distance formula Calculate the distance CurDist between the target and the mobile robot and calculate the angle Angle of the target relative to the forward direction of the robot according to the angle calculation formula (take the right side of the forward direction of the robot as the positive direction).

[0038] 2) Control of the mobile robot

[0039] a) Acquisition and determination of the environment where the mobile robot is located

...

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Abstract

The invention discloses a multi-behavior fused enzyme numerical membrane control method for a mobile robot in unknown environment. The method comprises the following steps such as: calculating a linear distance and an angle of the target and the robot, determining an environment in which the robot is located, determining whether the linear distance between the robot and the target is a historicalminimum, determining whether the target and an obstacle or a wall surface are on the same side of the robot, performing multi-behavior selection, performing the selection behavior, and determining whether the mobile robot reaches the target. By combining an enzyme numerical membrane system and a multi-behavior fusion algorithm, and introducing the determination of the distance between the robot and the target and the determination that whether the target and the obstacle or the wall surface are on the same side of the robot, the multi-behavior fused enzyme numerical membrane control method fora mobile robot in unknown environment solves the deadlock problem and detour problem of autonomous walking in the unknown environment of the mobile robot to a certain extent. An enzyme numerical membrane controller is used to fuse a multi-behavior controller to enable the robot to adapt to complex environments.

Description

technical field [0001] The invention relates to the technical field of intelligent robot control, in particular to a numerical film control method of a mobile robot multi-behavior fusion enzyme in an unknown environment. Background technique [0002] Membrane computing (or membrane system) is the youngest branch of natural computing. It is a computing model abstracted from the function and structure of cells, and the information processing and collaboration of cell groups such as organs and tissues. It has parallelism, uncertainty Excellent features such as scalability and distribution. Studies have shown that theoretically, the membrane computing model has the same computing power as Turing machines, and even has the possibility of surpassing the limitations of Turing machines. Enzyme numerical membrane system is a kind of membrane system, which has the excellent characteristics of distribution, parallelism, easy programming and modularization, and is suitable for robot co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0242G05D1/0276
Inventor 张葛祥黄振王学渊荣海娜
Owner SOUTHWEST JIAOTONG UNIV
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