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| A sensor-based motion planner: Situated-Bug | |
| 引用本文： | 居鹤华,崔平远,崔祜涛. A sensor-based motion planner: Situated-Bug[J]. 哈尔滨工业大学学报(英文版), 2003, 10(4) |
| 作者姓名： | 居鹤华 崔平远 崔祜涛 |
| 作者单位： | Deep Space Exploration Research Center，Harbin Institute of Technology，School of Electronic Information and Control Engineering，Beijing University of Technology，Deep Space Exploration Research Center，Harbin Institute of Technology Harbin 150001，China，School of Electronic Information and Control Engineering，Beijing University of Technology，Beijing 100022，China，Beijing 100022，China，Harbin 150001，China |
| 摘 要： | 0 INTRODUCTIONSensor basedmotionplanningmethodsinanenviron mentwithunknownobstacles ,likeBug 1[1] ,Bug 2 [2 ] ,Bug2A[3] ,Vis Bug[4 ] ,Tangent Bug[5] andHiroshiNoborio’sBug[6 ] ,havebeenproposed .Findinganoptimalpathisdifficultbecauserobots’motionisanexploringprocessinunknownenvironment .However ,forarobotonlywithaninertialunit ,absolutepositionerrorcausesseriousprob lemwhenthoseplannersdeterminetheirbehaviorsde pendingonrobotabsolutepositionsareimplemented .AllthoseBugs ,whichdete… |
A sensor-based motion planner:Situated-Bug |
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| JU He-hua. A sensor-based motion planner:Situated-Bug[J]. Journal of Harbin Institute of Technology (New Series), 2003, 10(4) | |
| Authors: | JU He-hua |
| Affiliation: | 1. Deep Space Exploration Research Center, Harbin Institute of Technology, Harbin 150001, China;School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100022, China 2. School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100022, China 3. Deep Space Exploration Research Center, Harbin Institute of Technology, Harbin 150001, China |
| Abstract: | Propose a new sensor-based motion planning approach of Situated-Bug, which is composed of goal-oriented behavior, boundary following behavior and goal-oriented obstacle avoidance behavior, which are based on fuzzy control. The situated-Bug selects its behaviors according to robot orientation, instead of positions and hit points like other Bug algorithms, and its convergence proves robust to sensor noise, and it can guide the robots running for long rang traverse. At the same time, the design of the Situated-Bug is presented. Simulation results show that the approach is effective and practical. |
| Keywords: | Situated-Bug motion-planning behavior control fuzzy control robot |
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