基于传感器的两栖机器人环境感知系统研究*

作者：姚旗，杨洋，张斗南 日期：2008-02-25/span> 浏览：3790 查看PDF文档

基于传感器的两栖机器人环境感知系统研究*

姚旗，杨洋，张斗南
（北京航空航天大学 机械工程及自动化学院，北京 100083）

摘要：通过对两栖机器人复杂作业环境及自身设计特点的分析，针对水面、陆地及水陆交叠的不同环境,分别为机器人设计了基于传感器的环境感知系统，并在此基础上，针对陆地环境将模糊控制算法引入两栖机器人的避障研究，设计了模糊控制器。仿真及实验研究的结果表明，该环境感知系统可以在不同的作业环境下及时准确地获取环境信息，同时模糊控制算法应用于陆地环境下的机器人局部路径规划后,取得了较优的无碰撞局部路径。
关键词：两栖机器人；环境感知；机器人避障
中图分类号：TP242文献标识码：A文章编号：1001-4551(2008)02-0001-04

Research on environment apperceive system for amphibious robot based on the sensor
YAO Qi, YANG Yang, ZHANG Dounan
(College of Mechanical Engineering & Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China)
Abstract: An sensorbased environment apperceive system was designed for the complex task environment such as the water, land and amphibious overlap, based on analyzing the amphibious robot complex operating environment and the design features. On this basis the fuzzy control algorithm was introduced to amphibious robot obstacle avoidance research, and a fuzzy controller was designed, based on the terrestrial environment. Simulation and experimental results indicate that the environment apperceive system could get the environment information timely and accurately, and the robot could obtain a local trajectory with collisionavoiding successfully, with the fuzzy control algorithm application.
Key words: amphibious robot; environment apperceive; robot collision avoidance
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