基于行为生成器的奇异地形自主运动控制

Robots moving in uncertain enviorment meet various of unexpectable events. The robot should have the ability of responding to these unexpectable events rapidly, and dealing with them.The posture of articulated mobile robot change is complex during crossing obstacles, the same posture in different terrain influence the stability differently. We constructed the control system of the articulated mobile robot, and analysed the negotiation experiments aimed at several typical obstacles. The experiment results of crossover protruding obstacles controlled using several different ways indicate: the control performance of the behavior-based reactive control and action coordination control method is the best in the aspect of stability, safety and rapidty compared with the remote control through monitor, operation on the spot and multi-agents based autonomous obstacle negotiation control. And the power wastage is least. It is important for mobile robot supplied power by battery.

本项目以关节移动机器人为研究对象，研究适合复杂奇异三维地形的自主运动控制。提出以行为生成器为核心的分层多主体自主运动控制系统。通过划分奇异地形环境为障碍和工具，研究自主运动中的最基本行为---避障和利用工具向第三维运动。通过研究负反馈和正反馈谙低承形械淖饔茫酆嫌苫肪持魈濉⑿形芍魈搴捅咎逯魈骞钩傻亩嘀魈逑低车男形