Navigation technology of autonomous mobile robots in unknown environments

摘要

To realize the navigation of the autonomous mobile robots in an unknown environment, the control architectonics with the integration of deliberative and reactive paradigm should be set up. This paper uses the cloud model to processing the uncertain sonar sensor data, and establishes the multi-rules reasoning generator to realize the reaction avoiding collision. And the finding sub-target method by searching the tangent point is presented to realize the efficient deliberative planning. We use the Player / Stage which is developed by USC Robotics Research Laboratory to simulate the motion of mobile robot. The simulation result shows the navigation method presented in the paper can effectively control the robots to reach the target and avoiding collision.