| 一种基于多组传感器信息移动机器人的避障方法 |
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| 引用本文： | 张明路, 彭商贤. 一种基于多组传感器信息移动机器人的避障方法. 自动化学报, 1998, 24(5): 671-674. |
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| 作者姓名： | 张明路 彭商贤 |
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| 作者单位： | 1.河北工业大学机械工程系,天津,天津大学机械系智能机械研究所,天津 |
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| 基金项目： | 天津市高教局重点发展学科资助 |
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| 摘 要： | 提出了一种基于多组传感器信息的移动机器人避障的新方法.该方法把多组传感器信息作为ART-2神经网络的输入,实现移动机器人对当前感知环境的快速识别和分类.在此基础上,设计了用于移动机器人在未知环境下避障的模糊控制器.试验证明了这一方法的有效性和实时性.
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| 关 键 词： | 移动机器人 避障 神经网络 模糊逻辑 |
| 收稿时间： | 1996-11-14 |
| 修稿时间： | 1996-11-14 |
A New Approach for Mobile Robot Obstacle Avoidance Based on Multi-Sonar Information |
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| Zhang Minglu, Peng Shangxian. A New Approach for Mobile Robot Obstacle Avoidance Based on Multi-Sonar Information. ACTA AUTOMATICA SINICA, 1998, 24(5): 671-674. |
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| Authors: | ZHANG MINGLU PENG SHANGXIAN |
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| Affiliation: | 1. Dept.of Mechanical Engineering,Hebei University of Technology,Tianjin,Tianjin University,Tianjin |
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| Abstract: | This paper presents a new approach for mobile robot to avoid obstacles based onmulti-sonar information in an unknown environment. The approach takes multi-sonar informationas the ART-2 neural network's inputs and quickly achieves identification and classification for the currently perceptual environment. Then, a fuzzy controller for mobile robot obstacle avoidance in an unknown environment is designed. In order to demonstrate the effectiveness and real-time ability of the proposed approach, we report a number of experimentalresults of mobile robot obstacle avoidance in an unknown environment. |
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| Keywords: | Mobile robot obstacle avoidance neural network fuzzy logic |
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