【摘要】 机器人导航理论和技术是机器人技术和智能控制的一个重要研究领域,一般地可分为基于模型的环境已知的全局导航和基于传感器的环境未知的局部导航两种类型。对模型环境提出了一种新的基于虚拟水流的机器人导航算法,它整合了虚拟水流法和势场法用于机器人在已知环境中导航,并对现实的未知环境导航具有指导意义。利用虚拟水流法可以解决势场法中的局部最小的问题。仿真实验表明该算法能够克服势场法中的局部最小点问题。更多还原

【Abstract】 Theory and technology of mobile robot navigation is one of an important domain in robotics and automation. One is global navigation based on model that the environment of the robot is certain and another is local navigation based on sensor that the environment of the robot is uncertain. In this paper, propose a new navigation algorithm based on virtual water flow, which integrates virtual water-flow with a potential-field-based method to guide a mobile robot in a certain environment. The potential-field method coupled with virtual water-flow can also navigate a mobile robot in real time. Simulations and experiments show this algorithm possesses good performance, and can overcome the problem caused by local minimum.更多还原