| 一种基于行为的移动机器人目标人跟踪控制方法 |
| |
| 引用本文： | 胡春华,马旭东,戴先中.一种基于行为的移动机器人目标人跟踪控制方法[J].控制工程,2011,18(2):318-321. |
| |
| 作者姓名： | 胡春华 马旭东 戴先中 |
| |
| 作者单位： | 1. 江苏技术师范学院,电气信息工程学院江苏,常州,213001
2. 东南大学,自动化学院江苏,南京,210096 |
| |
| 基金项目： | 国家863计划资助项目，江苏省高校自然科学研究项目，国家青年自然科学基金，常州市科技型中小技术创新资金计划 |
| |
| 摘 要： | 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...
|
| 关 键 词： | 移动机器人 目标人 跟踪 行为方法 |
A Robust Person Following Control Method for Behavior-Based Mobile Robot |
| |
| HU Chun-Hua,MA Xu-Dong,DAI Xian-Zhong.A Robust Person Following Control Method for Behavior-Based Mobile Robot[J].Control Engineering of China,2011,18(2):318-321. |
| |
| Authors: | HU Chun-Hua MA Xu-Dong DAI Xian-Zhong |
| |
| Affiliation: | HU Chun-Hua1,MA Xu-Dong2,DAI Xian-Zhong2(1.School of Electrical and Information Engineering,Jiangsu Teacher University of Technology,Changzhou 213001,China 2.School of Automation,Southeast University,Nanjing 210096,China) |
| |
| Abstract: | The problem of Reliably and continuously following a specific person is stadied for the inteligent service mobile robots in dynamic indoor environment.In order to exhibit robust autonomous performance,behavior-based following control method for a mobile robot is proposed,which combines the subsumption method with the fuzzy behavior fusion method for action selection.A set of fuzzy rules are designed to implement the obstacles-avoidance behaviors based on sonar readings.The shortest escape-path tree method i... |
| |
| Keywords: | mobile robot target person following behavior-based algorithm |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
