A Navigation Control Strategy with Hybrid Architecture for Rescue Robot
Control architecture is an important investigative content in mobile robots. The traditional model is poorly adaptable to real environment, furthermore, has a complex process in dealing with the direct planning and obstacle avoidance behavior, so a new hybrid architecture is introduced. A navigation control strategy for rescue robot is designed by the tight integration of reflecting behavior, reactive behavior and deliberative module. At the same time, we have given a new reactive obstacle avoidance method and a new planning method based on sensors. They are combined with the advanced deliberative module and successfully resolve the problem of local energy trap. The validity of these strategies is validated by the experiments on the robot CUMT II designed by us.
hybridarchitecture behavior planning deliberative planning avoiding obstacle Introduction
Feng TIAN Shi-rong GE Hua ZHU
Institute of Rescue Technology and Equipment China University of Mining and Technology Xuzhou, Jiang Institute of Rescue Technology and Equipment China University of Mining and Technology Xuzhou, Jiang
国际会议
厦门
英文
675-680
2010-10-29（万方平台首次上网日期，不代表论文的发表时间）