Kim Y J, Kim J H, Kwon D S
Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejon.
IEEE Trans Syst Man Cybern B Cybern. 2001;31(3):450-8. doi: 10.1109/3477.931544.
Most of navigation techniques with obstacle avoidance do not consider the robot orientation at the target position. These techniques deal with the robot position only and are independent of its orientation and velocity. To solve these problems this paper proposes a novel univector field method for fast mobile robot navigation which introduces a normalized two dimensional vector field. The method provides fast moving robots with the desired posture at the target position and obstacle avoidance. To obtain the sub-optimal vector field, a function approximator is used and trained by evolutionary programming. Two kinds of vector fields are trained, one for the final posture acquisition and the other for obstacle avoidance. Computer simulations and real experiments are carried out for a fast moving mobile robot to demonstrate the effectiveness of the proposed scheme.
大多数具有避障功能的导航技术都没有考虑机器人在目标位置的方向。这些技术仅处理机器人的位置，与它的方向和速度无关。为了解决这些问题，本文提出了一种新颖的单向量场方法用于快速移动机器人导航，该方法引入了归一化的二维向量场。该方法为快速移动机器人提供目标位置的期望姿态并实现避障。为了获得次优向量场，使用函数逼近器并通过进化编程进行训练。训练了两种向量场，一种用于最终姿态获取，另一种用于避障。针对快速移动的移动机器人进行了计算机模拟和实际实验，以证明所提方案的有效性。
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