摘要： 针对环境信息未知或部分未知的情况，提出动态行为控制方法使移动机器人自主避障。采用动态窗法表示结构空间，并分析环境信息，激发相应的行为进行避障，经过行为融合后得到可行的路径和速度值。其中趋向目标的行为采用模糊逻辑控制的方法，避障行为采用VFH方法加以实现。在计算过程中考虑了动力学与运动学约束条件，使得动态行为控制方法更加可行。仿真结果论证了所提出的方法的实时性与有效性。

关键词: 行为控制, 避障, 运动规划, 动态窗, 移动机器人

Abstract: Aiming at the obstacle avoidance of mobile robot in unknown environment or partially unknown environment, this paper presents the dynamic behavior control method. The method is making a use of dynamic window to analyze the information, excitating the relevant behavior to control, and fusing the behaviors to obtain the feasible path and velocity value. The move to goal behavior adopts fuzzy control method, and the obstacle avoiding behavior uses VFH method. The paper takes into account of the dynamics and kinematics restrict conditions, making the dynamic behavior control method much practical. The simulation results show that the method is efficient and feasible.

Key words: behavior control, obstacle avoidance, motion planning, dynamic window, mobile robot

中图分类号: 

• TP242.6