摘要
提出一种实用的自主移动机器人智能导航控制方案,以研制的模型样机HN-9为例,阐述了其具体实现技术.机器人采用扫描式超声波实现作业环境的探测,基于码盘和电子罗盘的组合导航子系统实现定位估计,利用模糊决策子系统产生反应式智能导航控制行为.仿真实验及模型样机的实际运行效果验证了该系统构成的可行性.这种模块化的低成本设计方案便于在移动机器人的嵌入式控制系统上实现,便于对已有移动机器人系统进行改造以实现自主导航功能,用以提高操作机动性与可靠性.
This paper presented the intelligent navigation control system design of an autonomous mobile robot. A robot prototype, named HN-9, was used to introduce this implementation technology of this scheme. The robot senses its surroundings by scanning-ultrasonic, and makes autonomous navigation decision based on a fuzzy logic controller. Its localization system is composed of encoders and compass. The simulation and experimental results show the validity of the design architecture. This practical scheme is low-cost and modularized, suitable for endowing an existing mobile robot with intelligent navigation ability, to increase the locomotion-operation efficiency and reliability.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2006年第7期1074-1078,共5页
Journal of Shanghai Jiaotong University
基金
国家高技术研究发展规划(863)项目(2003AA421020)
关键词
移动机器人
自主导航
模糊控制
嵌入式系统
mobile robot
autonomous navigation
fuzzy control
embedded system
