The navigation mobile robot systems using Bayesian approach through the virtual projection method

摘要

Abstract. The paper presents the navigation mobile walking robot systems for movement in non-stationary and nonstructured environments, using a Bayesian approach of Simultaneous Localization and Mapping (SLAM) for avoiding obstacles and dynamical stability control for motion on rough terrain. By processing inertial information of force, torque, tilting and wireless sensor networks (WSN) an intelligent high level algorithm is implementing using the virtual projection method. The control system architecture for the dynamic robot walking is presented in correlation with a stochastic model of assessing system probability of unidirectional or bidirectional transition states, applying the non-homogeneous/non-stationary Markov chains. The rationality and validity of the proposed model are demonstrated via an example of quantitative assessment of states probabilities of an autonomous robot. The results show that the proposed new navigation strategy of the mobile robot using Bayesian approach walking robot control systems for going around obstacles has increased the robot’s mobility and stability in workspace. W I.