Autonomous-Mobile Robot Navigation under Dynamic Path Environments

项目目的：[自主移动机器人导航算法的开发与实验研究][自主移动机器人导航算法的开发与实验研究]：在我们的移动机器人实验中，假设路径的交叉口为路标。在实验的第一阶段；机器人在路径上随机运行，以获取关于环境的知识。机器人根据所获得的环境知识来计划它们的行动。机器人可以利用其反射式运动来避免环境的突然变化，如果不是太大的变化。*机器人传感器的非线性滤波器的提出：超声波传感器由于其不昂贵的传感器而被广泛应用于机器人，但传感器获得的信号中含有许多不希望的噪声，特别是脉冲噪声。针对现有的线性滤波器和非线性滤波器，提出了一种基于滑模系统的新型非线性滤波器，并对其有效性进行了评价。*提出距离型模糊推理方法：基于每个模糊集之间的距离的新的模糊推理方法，克服了通常模糊推理的缺点。在距离型模糊推理的基础上，提出了一种新的橡胶串型关联记忆算法和一种新的学习算法。这些方法可能对自主移动机器人项目有用。

PORPOSE OF THE PROJECT : [REALIZATION OF MOBILE ROBOT WHICH CAN RECOGNIZE THEIR ENVIRONMENTS BY THEMSELVES AND PLAN THEIR ACTIONS ON THE BASIS OF THE OBTAINED KNOWLEDGE ]*Development of Navigation Algorithm for Autonomous Mobile Robot and Robot Experiments :Rand-Marks at the intersections on the path are assumed in our mobile robot experiments. At the first stage of the experiments; robots run about the path randomly in order to obtain the knowledge about the environments. Robots plan their actions on the basis of the obtained knowledge about the environments. Robots are able to avoid the sudden change of the environments if it is not so big change using their reflex-like movements :*Propose of Nonlinear Filter for Robot Sensor :Ultrasonic sensors are widely utilized for robots because of the non-expensive sensors but signals obtained by the sensors contain many undesirable noises, especially impulsive noise. New nonlinear filter based on sliding mode system is developed and the effectiveness of the filter is appealed for the existed many filter including linear and nonlinear filters.*Propose of Distance-type Fuzzy Reasoning Method :New Fuzzy reasoning based on the distance between each fuzzy sets, which overcome drawbacks arisen from the usual fuzzy reasoning. A new rubber string-type associated memory algorithm and a new learning algorithm are developed on the basis of the distance-type fuzzy reasoning. These approaches may useful for the autonomous mobile robot project.