科研之友
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摘要
In order to reduce the deadlock or collision phenomena, which is result from acquiring the optimal path or solution, during the navigation for mobile robot, the algorithm of obstacle avoidance based on fuzzy behavior fusion is proposed here according to the multiple objective decision making theory. The new method decomposes the navigation with given goal into three sub behaviors, which can be set different interval criterion weights or priorites at different time during navigation, to acquire the satisfying path or preferred solution at current time. The experiment shows that the algorithm can reduce some unnecessary deadlock and navigation time and improve the robustness of navigation efficiently.
- 出版日期2008
