基于生物触角的仿生条件反射机器人导航算法

doi:10.3969/j.issn.0372-2112.2013.02.028

电子学报 ›› 2013, Vol. 41 ›› Issue (2): 388-394.DOI: 10.3969/j.issn.0372-2112.2013.02.028

基于生物触角的仿生条件反射机器人导航算法

江济良, 屠大维, 许烁, 赵其杰

上海大学机电工程与自动化学院,上海 200072;上海市机械自动化及机器人重点实验室,上海 200072

收稿日期:2012-05-17 修回日期:2012-11-12 出版日期:2013-02-25
- 作者简介:
- 江济良 男,1985生于湖北黄冈.现为上海大学博士研究生,研究方向为服务机器人、人机协作、人机智能等. 屠大维(通信作者) 男,1965年生于浙江诸暨.博士,教授,博士生导师,现为上海大学机电工程与自动化学院院长,研究方向为机器视觉及伺服控制、光机电一体化智能机械及仪器、人机智能系统等. E-mail:tdwshu@staff.shu.edu.cn 许烁 男,1982年生于河北望都.博士,讲师,硕士生导师,现为上海大学机电工程与自动化学院教师,研究方向为服务机器人语义认知、人机关系、自主导航等. 赵其杰 男,1977年生于河南辉县.博士,副教授,硕士生导师,现为上海大学机电工程与自动化学院教师,研究方向为传感检测与控制,人机交互与智能系统等.
- 基金资助:
- 国家自然科学基金 (No.51075252,No.61101177,No.61203351); 上海大学科技创新基金 (No.A.10-0109-11-003)

Mobile Robot Navigation Algorithm of Biomimetic Conditioned Reflex Based on Biological Antennas

JIANG Ji-liang, TU Da-wei, XU Shuo, ZHAO Qi-jie

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China; Shanghai Key Laboratory of Manufacturing Automation and Robotics, Shanghai 200072, China

Received:2012-05-17 Revised:2012-11-12 Online:2013-02-25 Published:2013-02-25
- Supported by:
- National Natural Science Foundation of China (No.51075252, No.61101177, No.61203351); Science and Technology Innovation Fund of Shanghai University (No.A.10-0109-11-003)

摘要/Abstract

摘要： 运用神经行为学原理提出一种模拟生物条件反射活动的机器人导航算法.对于环境感知,提出生物触角模型,因仅对特定区域信息进行处理,大大减小了计算量;对于运动控制,提出一种实用的改进Bug算法,机器人依靠生物触角感知环境刺激,实时激励触发相应的行走行为.最后在多种障碍物分布情形下进行算法对比验证.结果表明,机器人可以利用该算法实现未知环境下定目标点自主导航,具有转向次数少、绕行障碍物距离小及运动路径平滑等优点.该算法在自主移动机器人和自主牵引车辆中具有潜在应用价值.

关键词: Bug算法, 自主导航, 移动机器人, 生物触角, 条件反射, 仿生

Abstract: This paper proposes a navigation algorithm of biomimetic conditioned reflex for mobile robots based on neuroethology principles.For environment perception,a biological antenna model is proposed to delineate the interested sensing areas,and thus decrease the computational burden.For motion planning and control,according to a practical Bug algorithm proposed in this paper,the obtained environment stimulation is responded to generate the corresponding walking behavior.Experiments have been carried out in different conditions of obstacle distribution for algorithm verification.The results present its practicability,fewer turning number,smaller route length and smooth motion path.It can be expected that this algorithm will be of potential application in automated mobile robot(AMR)and automated guided vehicle(AGV).

Key words: Bug algorithm, autonomous navigation, mobile robot, biological antenna, conditioned reflex, biomimetic

中图分类号:

TP249

江济良, 屠大维, 许烁, 等. 基于生物触角的仿生条件反射机器人导航算法[J]. 电子学报, 2013, 41(2): 388-394.

JIANG Ji-liang, TU Da-wei, XU Shuo, et al. Mobile Robot Navigation Algorithm of Biomimetic Conditioned Reflex Based on Biological Antennas[J]. Acta Electronica Sinica, 2013, 41(2): 388-394.

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基于生物触角的仿生条件反射机器人导航算法

Mobile Robot Navigation Algorithm of Biomimetic Conditioned Reflex Based on Biological Antennas

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