The navigation of mobile robots in non-stationary and non-structured environments

摘要

The paper presents the navigation of mobile walking robot systems for movement in non-stationary and non-structured environments. In the first approach are presented main elements for the successful completion of intelligent navigation. The wireless sensor networks (WSN), dynamical stability control, strategies for dynamical control and a Bayesian approach of simultaneous localisation and mapping (SLAM) for avoiding obstacles and dynamical stability control for motion on rough terrain are studied. 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. New capabilities to improve the walking robot stability are developed through the real-time balance motion control. 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 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.