CAJ | 학술논문

由于未知环境下机器人导航容易出现死锁问题,设计了一种基于栅格的地图模型叫"数据栅格",并在此基础上提出了一种基于行为的导航方法即"安全导航法".数据栅格记录了周围环境中障碍物信息和机器人路径信息,安全导航法就是应用数据栅格技术来解决未知环境下机器人导航遇到的死锁问题.模糊逻辑用来设计和协调各种导航行为.仿真和实际环境的实验结果也证实了该方法的良好性能.
유우미지배경하궤기인도항용역출현사쇄문제,설계료일충기우책격적지도모형규"수거책격",병재차기출상제출료일충기우행위적도항방법즉"안전도항법".수거책격기록료주위배경중장애물신식화궤기인로경신식,안전도항법취시응용수거책격기술래해결미지배경하궤기인도항우도적사쇄문제.모호라집용래설계화협조각충도항행위.방진화실제배경적실험결과야증실료해방법적량호성능.
Aiming at solving deadlock problem which is faced by a robot navigation under unknown and complicated environment, this paper proposes a behavior-based navigation method called "safe navigation method" which is based on a grid-based map model called "data grid".The data grid map records not only the surrounding environment information, but also the robot path data.The safe navigation method is one of the applications of the data grid technique, which addresses the deadlock problem faced by robot navigating under unknown environment.Fuzzy logic is used to implement the behavior design and coordination.Ex-perimental results are provided to demonstrate the performance of the proposed method.