基于包容结构的移动机器人混合式控制结构

本文提出以包容式框架结构为基础, 将计划作为一种行为, 与应激式行为并行处理的思想. 与之对应的是将传感器检测区域分为避障区和规划区, 如果在避障区有障碍物, 则由应激避障模块采取相应的避障行为; 如果在规划区有障碍物, 则由规划模块产生相应的输出. 由于规划模块最终输出子目标, 因此使此结构的规划模块具有很好的扩展性. 另外, 在处理应激避障行为和直接规划行为时, 分别提出新的基于传感器的避障和规划方法, 通过机器人路径规划的仿真证明, 这些方法是简洁、有效的.
关键词: 混合式结构; 避障; 基于传感器的旋转法; 规划; 机器人
　Abstract: In th is paper, w e describe a hybrid cont ro l arch itecture based on Subsum ing Cont ro lA rch itecture. The p lanning is regarded as a behavio r, and p rocessed synch ronist ically w ith the react ive behavio rs. Co rrespondingly, w e part it ion the detected field into an obstacle2avo idance field and a p lanning field. If an obstacle has been detected in the obstacle2field avo idance , the react ive obstacle2avo idancemodule p rocesses it, and if an obstacle has been de2 tected in p lanning field, the p lanning module p rocess it. The simulat ions of robo t path p lanning p rove that the method can fuse the react ive behavio r and the p lanning behavio r perfect ly. In addit ion, w e have given a new reac2 t ive obstacle2avo idance method and a new p lanningmethod based on senso rs. Thesemethods are p roved simp le and effect ive.
Keywords: hybrid arch itecture, avo iding obstacle, RBS, p lanning, robo t