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:2019,28(7):17-25
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移动机器人避障行为酶数值膜控制器
(西南交通大学 电气工程学院, 成都 611756)
Mobile Robot Membrane Controller Design with Enzymatic Numerical P Systems for Obstacle Avoidance Behavior
(School of Electrical Engineering, Southwest Jiaotong University, Chengdu 611756, China)
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投稿时间:2019-01-11    修订日期:2019-02-03
中文摘要: 为了兼顾膜控制器控制下的移动机器人行走速度和避障效果,提出了一种基于酶数值膜系统的自适应巡航速度避障控制方法.该方法采用酶数值膜系统结构,利用膜之间的信息交流,实现多个膜融合多个传感器的距离信息,根据融合距离信息自适应调节巡航速度,使移动机器人能够有效的避开障碍物,同时兼顾无障碍物时移动机器人行走速度.基于移动机器人Pioneer3-DX的仿真和实物实验表明:该方法设计的酶数值膜控制器可行且避障控制效果更优.
Abstract:In order to balance the cruise speed and performance of obstacle avoidance for mobile robots controlled by membrane controller, an adaptive cruise speed obstacle avoidance method based on enzymatic numerical P systems (ENPS) is proposed. The method adopts the enzymatic numerical P systems and uses membranes to fuse multiple sensors' distance values. The cruise speed is adjusted by the sensors' fusion value. Moreover, the method helps mobile robots avoiding obstacles effectively and keeps a high robot speed when there is no obstacle. Both the simulation and practical experiments on robot Pioneer 3-DX show that the enzymatic numerical membrane controller designed by the proposed method is feasible, and the effect of the controller is better.
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基金项目:四川省新一代人工智能重大科技专项(2018GZDZX0044);四川省科技支撑重点研发项目(2018GZ0185,2018GZ0086,2018GZ0095)
引用文本:
黄振,董建平,段莹莹,张葛祥.移动机器人避障行为酶数值膜控制器.计算机系统应用,2019,28(7):17-25
HUANG Zhen,DONG Jian-Ping,DUAN Ying-Ying,ZHANG Ge-Xiang.Mobile Robot Membrane Controller Design with Enzymatic Numerical P Systems for Obstacle Avoidance Behavior.COMPUTER SYSTEMS APPLICATIONS,2019,28(7):17-25

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