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基于局部感知环境分区评价的机器人运动控制
袁文博; 曹志强; 刘希龙; 谭民
Source Publication华中科技大学学报(自然科学版)
2013
Volume41Issue:SUPPL.IPages:38-41
Abstract本文提出一种基于局部感知环境分区评价的机器人运动控制方法,根据激光测距仪所提供的感知信息进行环境分区,引入距离影响因子,结合视觉指引及基于记忆的判断,产生各候选区评价,确定出适合当前环境的最优区用于移动机器人运动决策.所提方法的有效性通过实验进行了验证.
Other AbstractIn this paper, a motion control method for mobile robot based on sub-regions evaluation in local sensing environment is proposed. Firstly, the local environment is divided into multiple sub-regions based on the sensing information provided by laser range finder. Each sub-region is then evaluated by considering the distance influence factor, as well as visual guide and memory-based judgment. Finally, the optimal sub-region adapted to current environment will be used for motion decision of mobile robot. The effectiveness of the proposed method is verified by experiments.
Keyword移动机器人 局部感知 距离影响因子 基于记忆的判断 分区评价 运动控制
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11721
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding Author袁文博
Recommended Citation
GB/T 7714
袁文博,曹志强,刘希龙,等. 基于局部感知环境分区评价的机器人运动控制[J]. 华中科技大学学报(自然科学版),2013,41(SUPPL.I):38-41.
APA 袁文博,曹志强,刘希龙,&谭民.(2013).基于局部感知环境分区评价的机器人运动控制.华中科技大学学报(自然科学版),41(SUPPL.I),38-41.
MLA 袁文博,et al."基于局部感知环境分区评价的机器人运动控制".华中科技大学学报(自然科学版) 41.SUPPL.I(2013):38-41.
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