Autonomous Behavior Control and Simulation of the Lunar Rover in Unknown Environment
To the problem of the behavior-based mobile robot path planning in the unknown environment, based on the two traditional navigation methods of arbitration mechanism and fusion mechanism, the transition mechanism is proposed. Firstly combines two behaviors, which easily produce ZENO phenomenon, into a sub-advanced behavior,that is,the goal-trending-terrain-analyzing behavior and goaltrending-obstacle-avoiding behavior. Then the transition mechanism fuses the two sub-advanced behaviors. The transition mechanism can both obtain the fast response velocity and lighten the ZENO phenomenon through simulation.
Mobile Robot Behavior-based Control Arbitration Mechanism ZENO Phenomenon
Zhang Ranfeng Li Shoutao Li Yuanchun
The Department of Control Science and Engineering, Jilin University
国际会议
The 11th International Space Conference of Pacific-basin Societies(第11届环太平洋国际航天会议)
北京
英文
704-711
2007-05-16（万方平台首次上网日期，不代表论文的发表时间）