With the development of applied range, the work condition faced by robot is more complex, which always is unknown, dynamic and unstructured. So the control of robot to fulfill a mission in real time under this environment has a new challenge. Under the support of"Research on Robot behavior control based vision perception"from Shenyang Institute of Automation (SIA) of the Chinese Academy of Science (CAS) (No. RL2002002), this paper has a whole systemic research on the behavior control of mobile robot, and provides a robot behavior control system based vision and ultrasonic information. The main work and innovative ideas include:The structure of RIRA-Mobile robot is introduced. Furthermore, the driving model and power model are analyzed.The perception system of RIRA-Mobile robot is demonstrated particularly, which includes two models of vision and ultrasonic sensor. RIRA-Mobile robot uses two types ultrasonic sensors so as to detect the general obstacles'information. In addition, Sony EVI-D31 PTZ camera is also used, which can de controlled by computer serials that the vision function of robot is extended greatly to get more environment information.Through exploring the behavior-based control technology, a behavior-based control system has been designed for mobile robot fulfilling multiple objective missions. In the designed mobile robot navigation system, behavior-based control is applied in the fuzzy control theory, the robot's multiple objective are realized in the fuzzy decision and propriety-based decision. And robot can accomplish the objective-oriented work.In the end several simulations and experiments are carried out. The control system is simulated in the MobotSim , then the control strategy is applied to the RIRA- Mobile robot. Lots of experiments show that the proposed method is a simple effective approach for mobile robot searching a goal in the unknown environments. |