基于视觉和超声信息的机器人行为控制

随着机器人应用范围的不断扩展,机器人所面临的工作环境也越来越复杂,多数是未知的、动态的和非结构化的。通过对基于行为的机器人控制技术的研究,设计了一种用于完成多目标任务的移动机器人行为控制系统。将基于行为的控制技术融合进模糊控制的思想中,使移动机器人的行为通过运用模糊控制和基于优先度的行为决策来实现,并且通过视觉信息使机器人能够完成面向目标的任务。

As the robot application range extends constantly,its working condition is getting more complex,which is always unknown,dynamic and unstructured.Through exploring the behavior-based robot control technology,a behavior-based mobile robot control system was designed to carry out multiple objective mission.In the designed mobile robot control system,behavior-based control is integrated with the concept of fuzzy control theory,the multiple objective missions are realized through fuzzy control and priority-based decision.The robot can also accomplish the objective-oriented mission through visual perception.

中国科学院沈阳自动化所机器人学研究室(RL200202)资助项目