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作者:

Xu, Lu (Xu, Lu.) | Zhang, Liguo (Zhang, Liguo.) (学者:张利国) | Chen, Yangzhou (Chen, Yangzhou.) (学者:陈阳舟)

收录:

CPCI-S EI Scopus

摘要:

Autonomous behavior agent includes the robot most behaviors which are designed using hierarchical control method to guarantee their real time performance for real time navigation in response to different situation perceived. The process of robot real time navigation based on the autonomous behavior agent mainly includes three behaviors. The sensing behavior translates the configuration space that the robot and obstacles exist in into 2D Cartesian Grid by Quadtree method. The path planning behavior designs the sub-goals given the global map, start and goal points by improved D* Lite Algorithm. And the obstacle avoidance behaivor replans the path between two adjacent sub-goals when the environment changes. It is able to replan faster than planning from scratch since it modifies its previous search results locally and enables robots adapt to the dynamic environment. The simulation results that are reported show that the mobile robot navigation method is efficient and feasible.

关键词:

dynamic environment path planning autonomous agent mobile robot real-time navigation

作者机构:

  • [ 1 ] [Xu, Lu]Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing 100022, Peoples R China
  • [ 2 ] [Zhang, Liguo]Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing 100022, Peoples R China
  • [ 3 ] [Chen, Yangzhou]Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing 100022, Peoples R China

通讯作者信息:

  • [Xu, Lu]Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing 100022, Peoples R China

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来源 :

COMPUTATIONAL SCIENCE AND ITS APPLICATIONS - ICCSA 2007, PT 3, PROCEEDINGS

ISSN: 0302-9743

年份: 2007

卷: 4707

页码: 69-,

语种: 英文

被引次数:

WoS核心集被引频次: 0

SCOPUS被引频次:

ESI高被引论文在榜: 0 展开所有

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