摘要
在自主移动机器人相关技术的研究中,导航技术是其研究核心.动态不确定环境下的路径规划是自主移动机器人导航的关键环节之一,受到了许多学者的关注.多障碍环境下的路径规划,尤其是多障碍动态环境下的路径规划,是一个比较复杂的问题.通过混沌现象对自主移动机器人在动态环境下,利用传感器信息导航的复杂性进行了探讨.通过计算最大Lyapunov指数和描绘功率谱分析图这两种方法,确定了自主移动机器人从传感器上获得的机器人与障碍物间距离信息的时间序列存在混沌现象,揭示了自主移动机器人在动态环境下导航复杂性的原因.
In the research field concerning autonomous mobile robots, navigation is the core technology. The path planning in an uncertain and dynamic environment is a key link to the navigation of the autonomous mobile robot, which is an important area and a hotspot of the research field. The path planning in the environment with numerous obstacles, especially in a dynamic environment, is a very complicated issue. The complexity is probed about the autonomous mobile robot navigation through chaos phenomenon by use of sensor information under the dynamic environment. By two methods of computing the maximum Lyapunov exponent and drawing power spectrum, it is proofed that chaotic phenomenon exists in time sequence of distance information that autonomous mobile robot has got from sensors between robots and obstacles. The research reveals the cause of the complex problem of navigation of autonomous mobile robots in dynamic environments.
出处
《沈阳工业大学学报》
EI
CAS
2006年第5期534-537,552,共5页
Journal of Shenyang University of Technology
基金
辽宁省教育厅基金资助项目(05L30020040267)
关键词
混沌
动态环境
自主移动机器人
导航
路径规划
chaos
dynamic environment
autonomous mobile robot
navigation
path planning
