基于多傳感器行為融合基礎(chǔ)上的AGV導(dǎo)航研究.pdf

1、密級(jí)：一單位代碼：!Q3旦學(xué)號(hào)：塑箜女壑型!墮侖肥衛(wèi)學(xué)大警碩士學(xué)位論文。論文題目：學(xué)位類別：學(xué)科專業(yè)：(工程領(lǐng)域基于多傳蹙簍塹塑塾盒墨!堂圭塑!型墨蝴窒學(xué)歷碩士控制理論與控制工程作者姓名：塑墼重——導(dǎo)師姓名：——堂查豎墼堡一完成時(shí)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