基于虚拟子目标的移动机器人主动寻径导航

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仲朝亮, 刘士荣. 基于虚拟子目标的移动机器人主动寻径导航[J]. 机器人, 2009, 31(6): 548-555.. ZHONG Chaoliang, LIU Shirong. Mobile Robot Active Routing Navigation Based on Virtual Intermediate Goal. ROBOT, 2009, 31(6): 548-555..

摘要纯粹的反应式导航算法有时会出现“没有远见现象”，为此设计了一种基于行为和虚拟路径子目标的移动机器人主动寻径导航策略．该策略首先在机器人的局部探测域内运用改进的可视点寻径法寻找最优虚拟子目标，接着使用行为决策树实现快速的行为决策．机器人将如人类寻路一样，主动地灵巧绕过障碍物，基于圆弧轨迹的运动方式使之能以平滑的路径到达目标．仿真结果验证了本策略的可行性和有效性．

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关键词 ：虚拟子目标, 自主导航, 模糊算法, 决策树

Abstract：The sole use of reactive navigation algorithm may result in a "shortsighted phenomenon".Therefore,an active routing navigation strategy based on behavior and virtual intermediate goal is designed for mobile robot.Visible point path finding method is modified to search the optimal virtual intermediate goal for mobile robot to follow in the local detection area,and then the behavior decision tree is used for rapid decision-making.Robot can smoothly reach the goal based on the arc trajectory movement control and avoid obstacles flexibly as human-being.Simulation results show the feasibility and effectiveness of the proposed strategy.

Key words： virtual intermediate goal autonomous navigation fuzzy arithmetic decision tree

收稿日期: 2008-10-21

TP24

基金资助:国家自然科学基金资助项目（60675043）；浙江省科技计划资助项目（2007C21051）；杭州电子科技大学科研启动基金资助项目（KYS09150543）

作者简介: 仲朝亮（1980- ），男，博士生．研究领域：智能机器人，智能控制．
刘士荣（1952– ），男，博士，博士生导师．研究领域：复杂系统建模、控制与优化，智能系统与智能机器人．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I6/548

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