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首页> 外文期刊>International Journal of Advanced Robotic Systems >Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots
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Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots

机译：基于行为选择的四足机器人视觉和超声感官信息导航与避障方法

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摘要

A robot functioning in an environment may exhibit various forms of behavior emerge from the interaction with its environment through sense, control and plan activities. Hence, this paper introduces a behaviour selection based navigation and obstacle avoidance algorithm with effective method for adapting robotic behavior according to the environment conditions and the navigated terrain. The developed algorithm enable the robot to select the suitable behavior in real-time to avoid obstacles based on sensory information through visual and ultrasonic sensors utilizing the robot's ability to step over obstacles, and move between surfaces of different heights. In addition, it allows the robot to react in appropriate manner to the changing conditions either by fine-tuning of behaviors or by selecting different set of behaviors to increase the efficiency of the robot over time. The presented approach has been demonstrated on quadruped robot in several different experimental environments and the paper provides an analysis of its performance.
机译：在环境中运行的机器人可能会表现出各种形式的行为，这些行为是通过感知，控制和计划活动与其环境的交互作用而产生的。因此，本文介绍了一种基于行为选择的导航和避障算法，该算法具有根据环境条件和导航地形来适应机器人行为的有效方法。借助机器人能够越过障碍物并在不同高度的表面之间移动的能力，开发的算法使机器人能够通过视觉和超声传感器，根据视觉信息实时选择合适的行为来避免障碍物。另外，它允许机器人通过行为的微调或通过选择不同的行为集以适当的方式对变化的条件做出反应，以随着时间的推移提高机器人的效率。在几种不同的实验环境中，该方法已在四足机器人上得到了证明，并且本文对其性能进行了分析。

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