| 非确定环境下移动机器人多传感器系统及信息处理 |
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| 引用本文： | 乔凤斌,杨汝清.非确定环境下移动机器人多传感器系统及信息处理[J].东南大学学报,2004,20(3):341-345. |
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| 作者姓名： | 乔凤斌 杨汝清 |
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| 作者单位： | 上海交通大学机器人研究所，上海200030 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | PBJ- 01是一类移动机器人, 它的6个轮子和2个摆臂能够帮助机器人适应多种地形. 机器人上装有一个复杂的传感器系统, 包括超声波传感器、触觉传感器、视觉传感器等. PBJ-01采用基于行为的控制体系机构, 其关键部分是基于模糊神经网络的障碍识别系统. 仿真证明该系统能够从传感器的感知数据而识别出障碍类型, 从而帮助机器人在越障行为和避障行为之间进行抉择.
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| 关 键 词： | 移动机器人 基于行为的控制体系 神经网络 |
Multi-sensor systems and information processing of mobile robot in uncertain environments |
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| Qiao Fengbin,Yang Ruqing.Multi-sensor systems and information processing of mobile robot in uncertain environments[J].Journal of Southeast University(English Edition),2004,20(3):341-345. |
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| Authors: | Qiao Fengbin Yang Ruqing |
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| Abstract: | The PBJ-01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ-01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles. |
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| Keywords: | mobile robot behavior-based reactive control architecture neural network |
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