Research on IGV Mobile Vehicle Robot Path in Dynamic Environment

摘要：

　　The evolution of various behavior modes of mobile robots described by non-linear differential equation is used to simulate human path planning.The problem of path planning for mobile robots in dynamic environment is studied by behavioral dynamics method.Firstly,the behavior variables and behavior modes of path planning are determined,the course angle dynamics model and velocity dynamics model of the robot are constructed,and the unstable fixed points are analyzed,and the corresponding solutions are given.Secondly,in order to get a better path planning,the competitive model is used to adjust the weight of the behavior mode adaptively.And the simulation results show that the model is correct.And the weight adjustment is effective.

关键词： Mobile vehicle robot Dynamic environment Path

作者: Xu Ronghua Zhang Guoping Yu Wenjin Gao Xuefeng Zhang Qingsong

作者单位: Zhejiang Tobacco Industry co.LTD

会议类型: 国际会议

会议名称: 2019年第二届智能系统研究与机电工程国际会议(ISRME 2019) 2019 2nd International Conference on Intelligent Systems Research and Mechatronics Engineering

会议地点: 太原

会议语种:英文

页码: 692-695

在线出版日期: 2019-06-29（万方平台首次上网日期，不代表论文的发表时间）