越野移动机器人自动驾驶专家系统的研究

本文研究越野移动机器人驾驶专家系统等有关问题．首先介绍了系统的硬件支持环境，然后阐述了自动驾驶专家系统的总体结构，有关知识库的内容以及使用知识的各功能模块的作用与运行机理．该系统已部分得以应用，能够完全代替驾驶员完成各种驾驶操作，并能进行自主导航、运动规划、自动绕障、动态跟踪目标、原路返回以及示教再现等复杂任务。

his paper discusses the auto-pilot expert system of large outdoor mobile robot(APESMR).Adue hardware environment with sensors,computers and vehicle actuator and their relationship is introduced.The general structure of the auto-pilot expert system on a mobile robot,the building and using of knowledgebases,and the operating mechanism of some function modules are stated respectivelly.This system has beenapplied to a unmanned land vehicle which is a modified WZ-503 armoured personnel carrier.It has not onlyreplaced compeletely driver’s all kinds of operations but also been successful in many complicated tasks suchas autonomous navigation,mission planning,auto obstacle avoiding.dynamic target tracing,and retro-tra-verse etc.