未知环境中移动机器人基于行为的自主导航与环境构建

将模糊控制应用于基于行为的移动机器人控制结构中，使机器人具备了避障、避险和障碍物识别等基本的自主导航能力。针对未知环境中移动机器人的地图构建问题，提出了基于虚拟势场的全局搜索方法，采用基于栅格的地图表示方法，利用声纳传感器收集信息，实现对障碍物的识别和定位。通过试验验证了该方法的可行性。

Behavior-based Navigation and Map Building with Mobile Robot in Unknown Environments

This paper presents the behavior-based fuzzy control architecture with mobile robot. It makes the robot possess the basic ability, such as danger avoiding, obstacle avoiding recognizing etc. To the question of map building in a unknown environment, the global exploration approach based on the virtual potential field is put forward. The map is based on two-dimensional occupancy grids. The sonar sensor readings are fused to obstacles recognizing and location. The field test proves the effectiveness of this approach .