基于多傳感器行為融合基礎上的AGV導航研究.pdf

1、密級：一單位代碼：!Q3旦學號：塑箜女壑型!墮侖肥衛(wèi)學大警碩士學位論文。論文題目：學位類別：學科專業(yè)：(工程領域基于多傳蹙簍塹塑塾盒墨!堂圭塑!型墨蝴窒學歷碩士控制理論與控制工程作者姓名：塑墼重——導師姓名：——堂查豎墼堡一完成時間：2006年4罔NavigationResearchofAGVbased—onmultisensorsbehaviorsfusionAbstractMobilerobotisoneoftheimportant

2、branchesintherealmofrobotics，itsmainaimistheresearchonthereal—timecontrolproblemofrobotsystemiflthecomplicatedenvironment，concerningthekeytechniquesabouttaskplanning，movementplanningandnavigation，goalidentifyingandorient

3、ation，robotvision，multisensorsinformationmanagementandfusionaswellassystemintegrationThepapermostlystudiesmobilerobotnavigationtechnique，introducesthetheory，methodandapplicationofmulti—sensorsinfurmationfusioninnavigatio

4、nsystemAlsothemixedsystemstructureispresentedbasedonbehaviorsandonthebasisofitneuro—fuzzynetworkisappliedtealizeAGVnavigationThethesisadoptsseveralultrasonicsensorstoacquireobstaclecharacteristicinformationinunknownenvir

5、onmentthroughinformationfusionitcaneliminatesingledatauncertaintysoastogetexactenvironmentdataenhanceAGVfaulttolerantabilitySimultaneously，weselectthestructurebased—oilbehaviormix—systemtosolvethefeedbackdelayproblembase

6、donfunctionaldecompositionstructure，itcanresolvethelowerintelligentproblembasedonthebehaviorreactionsystemstructure，alsoweanalyzetheelementarybehaviorsoftheAGVnavigationindetailandestablishthefuzzyrulesofobstacleavoidanc

7、egoaltrackingwallfollowingandemergencybrake0nthisbasis，thenavigationsystemwithbehaviorsfusionisdesignedbased—onmultisensorsAlsotheneurofuzzynetworkisusedtostudytherulesTheSimulationresultsdemonstrate協(xié)atneurofuzzynetworka

8、ndbehaviorfusiontacticsbestrealizetheAGVnayigationbehaviorinunknowncircumstance，inresultrobotcanrationallyevadeobstaclesandarriveatthetargetKeywords：AGV；obstacleavoidance；behaviorsfusion；navigation；neuro—fuzz)，network；ul