A Method of Piloting an Autonomous Mobile Robot in Dynamically Changing Environment Including Moving Obstacles.

摘要

In this paper, we present a sensor-based navigation method for an autonomous mobile robot in dynamically changing environment with stationary and moving obstacles. A navigation task needs to navigate the robot to a destination along a predefined path, and avoids obstacles if necessary. However, the environments is always changing, and sensory information is quite limited (actually, we have many limitations of sensory processing towards a dynamically changing environment) . We have to describe an efficient navigation manner onto the robot using simple sensory information. The first step of our approach was a use of fuzzy control. Based upon results of experiments, we propose a new navigation method for an autonomous mobile robot in a dynamically changing environment. It determines a steering angle and a velocity to send to low-level locomotion system. There are two major parts in it : one is a tracing planned path task, and the other is an avoiding obstacle task. The distribution weight between their outputs is determined with a range data and differential range data between samplings.