贺建飚, 唐修俊, 张彭, 赵经纶. 越野移动机器人自动驾驶专家系统的研究[J]. 机器人, 1994, 16(5): 264-268.
引用本文: 贺建飚, 唐修俊, 张彭, 赵经纶. 越野移动机器人自动驾驶专家系统的研究[J]. 机器人, 1994, 16(5): 264-268.
HE Jianbiao, TANG Xiujun, ZHANG Peng, Shenyang. THE RESEARCH OF AUTO-PILOT EXPERT SYSTEM ON A LARGE OUTDOOR MOBILE ROBOT[J]. ROBOT, 1994, 16(5): 264-268.
Citation: HE Jianbiao, TANG Xiujun, ZHANG Peng, Shenyang. THE RESEARCH OF AUTO-PILOT EXPERT SYSTEM ON A LARGE OUTDOOR MOBILE ROBOT[J]. ROBOT, 1994, 16(5): 264-268.

越野移动机器人自动驾驶专家系统的研究

THE RESEARCH OF AUTO-PILOT EXPERT SYSTEM ON A LARGE OUTDOOR MOBILE ROBOT

  • 摘要: 本文研究越野移动机器人驾驶专家系统等有关问题.首先介绍了系统的硬件支持环境,然后阐述了自动驾驶专家系统的总体结构,有关知识库的内容以及使用知识的各功能模块的作用与运行机理.该系统已部分得以应用,能够完全代替驾驶员完成各种驾驶操作,并能进行自主导航、运动规划、自动绕障、动态跟踪目标、原路返回以及示教再现等复杂任务.

     

    Abstract: his paper discusses the auto-pilot expert system of large outdoor mobile robot(APESMR).A due hardware environment with sensors,computers and vehicle actuator and their relationship is introduced.The general structure of the auto-pilot expert system on a mobile robot,the building and using of knowledge bases,and the operating mechanism of some function modules are stated respectivelly.This system has been applied to a unmanned land vehicle which is a modified WZ-503 armoured personnel carrier.It has not only replaced compeletely driver's all kinds of operations but also been successful in many complicated tasks such as autonomous navigation,mission planning,auto obstacle avoiding.dynamic target tracing,and retro-tra-verse etc.

     

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