动态环境下自主移动机器人的导航复杂性

在自主移动机器人相关技术的研究中，导航技术是其研究核心.动态不确定环境下的路径规划是自主移动机器人导航的关键环节之一，受到了许多学者的关注.多障碍环境下的路径规划，尤其是多障碍动态环境下的路径规划，是一个比较复杂的问题.通过混沌现象对自主移动机器人在动态环境下，利用传感器信息导航的复杂性进行了探讨.通过计算最大Lyapunov指数和描绘功率谱分析图这两种方法，确定了自主移动机器人从传感器上获得的机器人与障碍物间距离信息的时间序列存在混沌现象，揭示了自主移动机器人在动态环境下导航复杂性的原因.

Research on navigation complexity for autonomous mobile robots under dynamic environments

In the research field concerning autonomous mobile robots,navigation is the core technology.The path planning in an uncertain and dynamic environment is a key link to the navigation of the(autonomous) mobile robot,which is an important area and a hotspot of the research field.The path planning in the environment with numerous obstacles,especially in a dynamic environment,is a very complicated(issue.) The complexity is probed about the autonomous mobile robot navigation through chaos phenomenon by use of sensor information under the dynamic environment.By two methods of computing the maximum Lyapunov exponent and drawing power spectrum,it is proofed that chaotic phenomenon exists in time(sequence) of distance information that autonomous mobile robot has got from sensors between robots and(obstacles.) The research reveals the cause of the complex problem of navigation of autonomous mobile robots in dynamic(environments).