论文部分内容阅读
针对室内复杂环境,对于智能服务移动机器人,设计一个连续稳定的目标人跟踪算法是必要的。为此提出一种室内环境下基于行为的移动机器人对运动目标人进行跟踪的控制方法,该方法综合优先级裁决方法与模糊行为融合法选取移动机器人的控制行为,较好地解决跟踪过程中存在多种行为以及行为冲突问题,在完成运动避障的同时保持对运动目标的跟踪。对避障行为模块提出声纳距离加权平均法求取障碍物距离信息,采用模糊逻辑法设计避障控制器。在不同的实验环境下做了大量的实验,结果表明,该算法能实时稳定地跟踪上指定的目标人,不仅能绕开障碍物,而且能保持给定的初始距离。
For indoor complex environment, it is necessary to design a continuous and stable target tracking algorithm for intelligent mobile robot. A control method based on behavior-based mobile robot for tracking moving target in indoor environment is proposed. The method combines the priority determination method and the fuzzy behavior fusion method to select the control behavior of the mobile robot to better solve the problem that the tracking process exists A variety of behaviors and behavioral conflicts, the completion of the movement obstacle avoidance at the same time to keep track of the movement. Propose a sonar distance weighted average method for the obstacle avoidance module to obtain the obstacle distance information, and design the obstacle avoidance controller by the fuzzy logic method. A large number of experiments have been done under different experimental conditions. The results show that the proposed algorithm can track target people in real time and steadily, not only can bypass the obstacle, but also can maintain a given initial distance.