CAJ | 학술논문

纯粹的反应式导航算法有时会出现"没有远见现象",为此设计了一种基于行为和虚拟路径子目标的移动机器人主动寻径导航策略.该策略首先在机器人的局部探测域内运用改进的可视点寻径法寻找最优虚拟子目标,接着使用行为决策树实现快速的行为决策.机器人将如人类寻路一样,主动地灵巧绕过障碍物,基于圆弧轨迹的运动方式使之能以平滑的路径到达目标.仿真结果验证了本策略的可行性和有效性.
순수적반응식도항산법유시회출현"몰유원견현상",위차설계료일충기우행위화허의로경자목표적이동궤기인주동심경도항책략.해책략수선재궤기인적국부탐측역내운용개진적가시점심경법심조최우허의자목표,접착사용행위결책수실현쾌속적행위결책.궤기인장여인류심로일양,주동지령교요과장애물,기우원호궤적적운동방식사지능이평활적로경도체목표.방진결과험증료본책략적가행성화유효성.
The sole use of reactive navigation algorithm may result in a "shortsighted phenomenon". Therefore, an active routing navigation strategy based on behavior and virtual intermediate goal is designed for mobile robot. Visible point path finding method is modified to search the optimal virtual intermediate goal for mobile robot to follow in the local detection area, and then the behavior decision tree is used for rapid decision-making. Robot can smoothly reach the goal based on the arc trajectory movement control and avoid obstacles flexibly as human-being. Simulation results show the feasibility and effectiveness of the proposed strategy.