共查询到19条相似文献,搜索用时 140 毫秒
1.
针对深海局部地形环境构形特征,结合海底车行走特性,将海底车越障范围内障碍物进行聚类划分,利用Surfer网格节点编辑器修改等值线,简化地形障碍物环境。将BP神经网络结构应用到海底车避障系统的神经网络设计中,提出适合海底车实现完全避障的BP网络模型,改善了BP神经网络的局部极小值问题;基于Matlab设计基于海底车避障系统的BP遗传神经网络程序,分析不同网络模型下的控制误差。结果可知:基于BP算法的避障神经网络模型具备良好的学习能力;集合两种方法的优点,对轨迹进行不断调整,达到避障的目的。 相似文献
2.
3.
4.
5.
一种有效的移动机器人行为融合避障方法 总被引:1,自引:0,他引:1
移动机器人避障路径规划问题一直是移动机器人自主导航问题的关键。现有的避障路径规划算法多数针对某一指定目标寻优过程,经常出现为了获得最优解或最优路径而导致死锁或震荡现象。引进多目标优化理论,提出一种基于动态区间权重的多目标优化避障算法,该算法把避障过程划分为3种动作行为融合过程,通过赋予行为函数不同的权重,实时动态改变不同动作行为的输出比率。不是获得当前时刻最优解或最优路径,而是仅获得当前时刻的最有效解、最满意路径。从理论上分析并证明多行为输出避障导航系统的有效性和鲁棒性。试验表明该算法可以在确保移动机器人避障过程的实时性和鲁棒性前提下有效地提高避障过程的灵活性和安全性。 相似文献
6.
7.
《机械工程师》2019,(10)
基于ROS工业机器人开源平台,应用C++语言进行了移动机器人导航避障系统的设计与开发。选用激光雷达作为位置传感器,融合视觉里程计、轮式里程计和IMU里程计三大里程计数据,采用传统定位与SLAM算法创建地图,应用AMCL算法准确确定移动机器人位置;对移动机器人使用A~*算法进行全局路径规划、DWA算法进行局部路径规划,并且使用模糊BUG2算法作为核心算法实现局部避障器融入ROS规划系统中,应用C++语言开发程序,在移动机器人Robotino在地图上的两个点进行导航和避障测试。结果表明,只要合理设置机器人和障碍物之间相对运动速度,机器人可以规划出一条躲避缓慢移动障碍物、全局较优路径。 相似文献
8.
用于移动机器人避障的人工神经网络和模糊逻辑控制技术 总被引:10,自引:0,他引:10
提出了一种用于移动机器人对当前感知环境进行了识别和分类进而实现避障的方法,分析和研究反映当前感知环境的特征向量的抽取技术,并建立反映期望环境类别的特征向量训练样本数据库;建立基于ART2神经网络的分类器模型,根据多传感器信息实现移动机器人对其当前感知环境进行快速识别和分类;利用模糊逻辑技术,设计用于移动机器人在未知环境下避障的三维模型控制器,在TIT-1型移动机器人上进行实验。 相似文献
9.
基于模糊逻辑的机器人路径规划 总被引:4,自引:0,他引:4
提出了一种基于模糊逻辑的移动机器人路径规划算法,并对算法进行了运动仿真,仿真结果表明,对不同的路障能较好地实现机器人的避障,解决了人工势场法中局部极小的问题,避开了传统算法中存在对移动机器人定位精度要求高的约束。 相似文献
10.
11.
This paper addresses an obstacle avoidance problem for a mobile robot in indoor environment. The collision avoidance algorithm
utilizes a region partition scheme to analyze the three forward sensory regions of the robot, then to calculate the minimum
distances from the center of mass of the robot to the obstacles, respectively, and ultimately to find a navigable region.
The supervisor inside the controller receives a series of obstacle avoidance behaviors and makes a decision that allows the
robot to successfully navigate in a cluttered environment. In addition, experimental results to illustrate the proposed obstacle
avoidance algorithm for the mobile robot in navigation are also presented. 相似文献
12.
针对桁架内移动的避障要求,研究双臂手移动机器人桁架内运动的规划方法。基于状态空间模型提出直角坐标空间下的六面心、八边心和八顶点搜索算法,避免了C空间内复杂度呈几何级数增长的问题,实现了末端无碰撞路径搜索。建立双臂手移动机器人三节臂的平面内避障准则,解决了机器人在桁架内运动时机器人臂与桁架杆的碰撞问题。根据平面内避障准则和臂形标志,求得了各个关节角的解析解,解决了数值解的不封闭问题。每个时刻末端姿态由通用旋转变换公式线性插值得到,在Matlab中仿真双臂手移动机器人桁架内的运动,验证了双臂手移动机器人在桁架内运动时避障方法的可行性。 相似文献
13.
14.
Using sensor and GPS to make a trajectory planning for the stationary obstacle,autonomous mobile robot can assume that it is placed at the center of the map,and from the distance information between autonomous mobile robot and obstacles.But in case of active moving obstacle,many components and information need to process since their moving trace should be considered in real time.This paper proposes mobile robot’s driving algorithm of unknown dynamic environment in order to drive intelligently to destination using ultrasonic and Global Positional System(GPS).Sensors adjusted the placement dependment on driving of robot,and the robot plans the evasion method according to obstacle which are detected by sensors.The robot saves GPS coordinate of complex obstacle.If there are many repeated driving,robot creates new obstacles to the location by itself.And then it drives to the destination resolving a large range of local minimum point.If it needs an intelligent circumstantial decision,a proposed algorithm is suited for effective obstacle avoidance and arrival at the destination by performing simulations. 相似文献
15.
基于虚拟力的冗余度机器人自主避障研究 总被引:1,自引:0,他引:1
针对具有末端位姿约束的冗余度机器人,提出了一种实现障碍回避的新方法。该方法将虚拟力和多体动力学引入冗余度机器人的自主避障中,机器人在避障力、任务路径吸引力等综合作用下实时地回避障碍物。避障算法对机器人的工作区域进行划分,并实现末端关节避障力的精确计算。该方法使障碍回避过程不再依赖于运动学优化,提高了系统的实时性。 相似文献
16.
17.
Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robot or vehicle. In this paper Invasive Weed Optimization (IWO), a new meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robot in partially or totally unknown environments. This meta-heuristic optimization is based on the colonizing property of weeds. First we have framed an objective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robot in partially or completely unknown environments. Depending upon the value of objective function of each weed in colony, the robot avoids obstacles and proceeds towards destination. The optimal trajectory is generated with this navigational algorithm when robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed algorithm has been demonstrated through series of simulation and experimental results. Finally, it has been found that the developed path planning algorithm can be effectively applied to any kinds of complex situation. 相似文献
18.
Jeong-Min Choi Sang-Jin Lee Mooncheol Won 《Journal of Mechanical Science and Technology》2011,25(1):247-254
Many mobile robot navigation methods use, among others, laser scanners, ultrasonic sensors, vision cameras for detecting obstacles
and following paths. However, humans use only visual (e.g. eye) information for navigation. In this paper, we propose a mobile
robot control method based on machine learning algorithms which use only camera vision. To efficiently define the state of
the robot from raw images, our algorithm uses image-processing and feature selection steps to choose the feature subset for
a neural network and uses the output of the neural network learned through supervised learning. The output of the neural network
uses the state of a reinforcement learning algorithm to learn obstacle-avoiding and path-following strategies using camera
vision image. The algorithm is verified by two experiments, which are line tracking and obstacle avoidance. 相似文献
19.
基于虚拟力场法的移动机器人避障研究 总被引:1,自引:0,他引:1
针对移动机器人,提出了一种基于虚拟力场法的位置闭环避障方法。该方法简易、直观,使机器人在移动过程中能够检测到未知的障碍物并避开它,实现机器人朝着目标点移动。通过实验验证了这种方法的效果良好。 相似文献