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侦察机器人自主路径跟踪是执行侦察任务时需要的一个基本行为.首先,用简化的模糊推理方法实现了路径跟踪、障碍避让和车体平衡三个基本智能行为模块,然后通过基于行为优先级的行为协调机制将这些基本行为组合起来,实现了具有多个传感器信息输入和具有自主障碍避让和车体平衡控制能力的自主路径跟踪组合行为.算法具有模块化和分布智能的特点,实时性好,降低了算法实现的复杂性.仿真和实验结果证明了算法的有效性.
Reconnaissance robot autonomous path tracking is a basic behavior needed in reconnaissance missions.Firstly, three basic intelligent behavioral modules of path tracking, obstacle avoidance and vehicle body balance are implemented with a simplified fuzzy inference method, and then based on behavioral priority Coordination mechanism combines these basic behaviors and achieves the combined behavior of autonomous route tracking with multiple sensor information inputs and autonomous obstacle avoidance and vehicle body balance control ability.The algorithm has the characteristics of modularization and distributed intelligence, The complexity of algorithm implementation.The simulation and experimental results prove the effectiveness of the algorithm.