【摘要】 基于行为的移动机器人在获取外界信息时不可避免地会引入噪声,给移动机器人的导航造成一定的影响。首先建立了一个考虑了噪声影响的基于行为的移动机器人的仿真实验系统,然后以机器人导航任务为例,定量研究均匀分布噪声和高斯白噪声对机器人导航效率的影响;同时讨论机器人运动模块间的两种组合方式——加权平均方式和加权最大方式在抑制噪声方面的作用。研究结果表明噪声使移动机器人的导航效率降低,完成导航任务所需的行程时间增加;加权平均方式比加权最大方式在抑制噪声方面效率更高,这对机器人运动模块的抑噪设计有良好的指导作用。更多还原

【Abstract】 Noise is always induced for behavior-based mobile robot when the environmental information is obtained,which affects the navigation of mobile robot.A behavior-based mobile robot simulator considering noise was established.And the effects of the uniformly distributed and Gaussian noise on the efficiency of navigation were quantitatively studied.In addition,the denoising effects of the combination among modules including the average mode and the maximum mode were considered.The results indicate that noise causes the decreasing efficiency of navigation,and the increasing travel time.The denoising effect of the average mode is better than that of the maximum mode,which guides practically the real robot system.更多还原