Membrane computing-based mobile robot obstacle avoidance control method

Abstract

The invention discloses a membrane computing-based mobile robot obstacle avoidance control method. The method involves the acquisition and processing of local environment information and the design ofan obstacle avoidance behavior enzyme numerical value membrane control system. The acquisition and processing of the local environment information specifically comprises the following specific stepsthat: the local environment information is acquired and is adopted as input, and n distance sensors on the periphery of a mobile robot are adopted to obtain the values xi of distances between an obstacle and the corresponding sensors; and linear transformation is performed on the xi through a formula that si=-xi+M, wherein si is the linearly-transformed values of the sensors, and M is the maximumdetection distance of the sensors. According to the membrane computing-based mobile robot obstacle avoidance control method of the invention, the distances from the obstacle to the robot and the navigation speed of the robot are calculated; the values of the sensors are multiplied by weights, and obtained products are accumulated; the speeds of a left wheel and a right wheel are calculated; and therefore, the control method is convenient to assist in enabling the navigation speed of the robot to adaptively change along with the distances between the robot and the obstacle and the angular velocity of the robot and enabling the robot to perform operation according to the distances between the robot and the obstacle and the angular velocity of the robot.

Description

technical field [0001] The invention relates to the field of intelligent robot and control technology, in particular to an obstacle avoidance control method of a mobile robot based on membrane calculation. Background technique [0002] Mobile robot autonomous obstacle avoidance is the process of the robot avoiding obstacles according to the collected obstacle status information and according to a certain method. It is a research hotspot in the field of robotics, and membrane computing is the youngest branch of natural computing. The calculation model abstracted from the information processing and cooperation of cell groups such as the function and structure of cells, organs and tissues has excellent characteristics such as parallelism, uncertainty, and distribution. [0003] The existing obstacle avoidance methods include the curvature rate method, the vector field histogram method, and the dynamic window method. These methods can avoid obstacles better, but they have the di...

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Problems solved by technology

[0004] The object of the present invention is to provide a kind of mobile robot obstacle avoidance control method based on membrane calculation, solve the obstacle avoidance method proposed in the above-mentioned background technology to have curvature rate method, vector field histogram method, dynamic window method, these methods all can compare Good obstacle avoidance, but there are problems with the disadvantages of high time overhead and low computational efficiency

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