【摘要】 研究基于自主行为智能体的月球车运动规划与控制方法．在基于自主行为智能体的月球车系统结构基础上,首先设计了月球车运动规划与控制的一组基本行为,对其原理进行证明．通过行为状态机对行为进行选择,如果不能保障月球车安全性能,则由运动规划智能体学习其行为参数,并由神经网络记忆．将月球车运动规划与控制分解为行为设计与学习两个过程,使月球车控制系统易于加入先验知识．同时,月球车运动规划能够满足其机动性与地形传送性约束,保证工程开发的结构化与可实现性．该方法不仅具有实时性,而且对未知环境具有较强的适应能力．仿真研究与实验证明了该方法的有效性．更多还原

【Abstract】 An approach based on autonomous behavior agent of lunar rover motion planning and controlling is presented. First, based on the autonomous behavior agent, a group of behaviors is designed, and its theory is proven. Then, a behavior automata is used for behavior coordination. When the motion planning cannot guarantee the rover safety, a motion planning agent is invoked to learn behavior parameters, which are then memorized by a neural network. At the same time, the rover behaviors can meet both constraints of rover maneuverbility and lunar terrain transferbility. The approach can timely plan and control the rover in an unknown world. Simulation and experiment results are shown to demonstrate the effectiveness of the approach.更多还原