基于包容结构的移动机器人混合式控制结构

本文提出以包容式框架结构为基础，将计划作为一种行为，与应激式行为并行处理的思想．与之对应的是将传感器检测区域分为避障区和规划区，如果在避障区有障碍物，则由应激避障模块采取相应的避障行为；如果在规划区有障碍物，则由规划模块产生相应的输出．由于规划模块最终输出子目标，因此使此结构的规划模块具有很好的扩展性．另外，在处理应激避障行为和直接规划行为时，分别提出新的基于传感器的避障和规划方法，通过机器人路径规划的仿真证明，这些方法是简洁、有效的．

HYBRID ARCHITECTURE OF ROBOT BASED ON SUBSUMPTION ARCHITECTURE

In this paper, we describe a hybrid control architecture based on Subsuming Control Architecture. The planning is regarded as a behavior, and processed synchronistically with the reactive behaviors. Correspondingly, we partition the detected field into an obstacle avoidance field and a planning field. If an obstacle has been detected in the obstacle field avoidance , the reactive obstacle avoidance module processes it,and if an obstacle has been detected in planning field, the planning module process it. The simulations of robot path planning prove that the method can fuse the reactive behavior and the planning behavior perfectly. In addition, we have given a new reactive obstacle avoidance method and a new planning method based on sensors. These methods are proved simple and effective.