基于速度矢量可行度的移动机器人多行为综合决策方法

为了提高机器人对真实环境的适应能力 ,基于行为思想越来越多地被用于自主机器人的在线运动决策 .由此 ,产生了多行为综合管理问题 .本文分析了常用的基于矢量合成的并行行为的综合方法 .在此基础上 ,提出基于速度矢量可行度的自主移动机器人多行为综合决策方法 .该方法可较完整地保留子行为的决策意图 ,得到更合理的行为综合结果 .

The idea of behavior  based architecture is applied in autonomous robots more widely to make robots work in real world. This brings out a problem of organizing multiple behaviors. Vector  based methods are often used for integration of parallel behaviors. After analyzing vector  based methods, an integrated method based on feasibility of velocity vectors was provided. This method can keep more information of behavior decision and get better results of behavior integration.