Research On Behavior-based Obstacle Avoidance Control For Intelligent Exploration Vehicle In Unknown Environments

Intelligent exploration vehicle belongs to the category of intelligent mobile robots. With the development of applied range, the working condition faced by the intelligent exploration vehicle is more and more complex, which always is unknown and unstructured. So, the intelligent exploration vehicle to fulfill exploration mission safely in real time under this environment, the design of obstacle avoidance control system is the key part of intelligent exploration vehicle, the design is also an important manifestation of intelligent exploration vehicle to realize intellectualization.In this paper, ultrasonic sensors are used to detect the obstacle environment surrounding the intelligent exploration vehicle, and DSP technology is used to process the obstacle distance information measured by ultrasonic sensors, finally through behavior-based intelligent control method to realize the autonomous obstacle avoidance control for the intelligent exploration vehicle. The main contents of this paper are as follows:(1) Obstacle environment around intelligent exploration vehicle's information acquisition is accomplished by three group ultrasonic sensors, software and hardware design of the entire ultrasonic distance measuring system is completed based on DSP controller TMS320F2812, and the ultrasonic distance measuring experiment is also carried out.(2) The fuzzy logic control method is integrated into behavior-based intelligent control method, and four basic behaviors are designed for intelligent exploration vehicle autonomous obstacle avoidance, including goal seeking behavior, obstacle avoidance behavior, tracking behavior, and deadlock disarming behavior. Then, four basic behaviors are simulated seperately, the simulation results are used to verify the validity of the fuzzy controller.(3) In unknown environments, behavior-based obstacle avoidance control algorithm is designed mainly include two aspects: based on behavior arbitration mechanism obstacle avoidance control algorithm, as well as based on two-stage BP neural network behavior fusion obstacle avoidance control algorithm. In order to verify the validity and feasible, simulations of the two algorithm are being done, and intelligent exploration vehicle obstacle avoidance simulation platform has been developed, the platform is based on Visual C + + and MATLAB programming ideas mixed.(4) Serial communication control software of intelligent exploration vehicle obstacle avoidance control system is designed, and the model of intelligent exploration vehicle has been taken as the controlled object. Then, the union debugging of hardware and software system is carried on. Finally, experiments under real circumstances are carried out. The results of the experiments match the simulation process and verify the validity of the obstacle avoidance control system.In conclusion, this paper mainly complete the software and hardware design of intelligent exploration vehicle obstacle avoidance control system in unknown environments, and simulate the obstacle avoidance control algorithm. Finally, carry out the obstacle avoidance experiments. The experiment results indicate that the obstacle avoidance control system is able to satisfy the obstacle avoidance requirements for intelligent exploration vehicle in unknown environments.