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Abstract: A
new behavior-based robot motion planning approach, which uses the fuzzy
logic method, is proposed for collision avoidance of multi-joint robot
operating in unstructured environments. The sensitive skin is used to
build a description of the robot’s surroundings. This approach includes
two behaviors: target reaching behavior and obstacle avoidance behavior.
The robot selects appropriate one of the two behaviors according to the
situation around the robot to reach the target. The computation time is
reduced and the algorithm can work in real time in unknown environments.
It has been tested in a variety of working scenarios, providing each
time a collision-free trajectory for the robot manipulator. Effectiveness
of the proposed approach is verified through simulation.
Key
words: Robot
Motion planning Behavior Fuzzy control
CLC No: TP24
国家自然科学基金(50105002)和哈尔滨工业大学基金(HIT.2001.14)资助项目. Received 20050608,
received in revised form 20051212
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