主动移动机器人助手的模糊混合导航:一种多感官融合方法

Ching-Chih Tsai, Ssu-Min Hu, Hsu-Chih Huang, Shih-Min Hsieh
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引用次数: 4

摘要

本文介绍了在已知、杂乱和动态的室内环境中,老年人主动移动机器人助手的多感官模糊混合导航的方法和技术。在自定位中,将几何表示和拓扑表示相结合,保持各自的优点,抵消各自的缺点。利用RFID系统,可以减少已知环境中相似区域的位置假设估计。采用Dijkstra动态规划方法确定了由点组成的全局最优路径。设计了模糊自适应速度控制律,使机器人能够适应不同的用户速度。利用激光扫描仪和超声波探测仪的传感数据,融合自适应速度、目标搜索和避障功能,实现了安全模糊混合导航。实验结果表明了所提方法的有效性和优越性。
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Fuzzy hybrid navigation of an active mobile robotic assistant: A multisensory fusion approach
This paper presents methodologies and techniques for multi-sensory fuzzy hybrid navigation of an active mobile robot assistant for the elderly people in known, cluttered and dynamic indoor environments. For self-localization, the geometric and topological representations are combined together to maintain the advantages of them and counteract their disadvantages. By using RFID system, the estimation of position hypothesis for similar regions in a known environment can be reduced. The global optimal path composed of via points is determined by using Dijkstra's dynamic programming approach. Fuzzy adaptive speed control law is designed to make the robot adapt to various users' speeds. Safe fuzzy hybrid navigation is achieved by fusing adaptive speed, goal-seeking and obstacle- avoidance from the sensing data of laser scanner and ultrasonic rangers. In addition, Experimental results are conducted to show the effectiveness and merits of the proposed methods.
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