| China is a resourceful country of ore, and mining takes an important proportion of our country economy. Among them, safety is always the key question to restrict coal mining. Many environments may affect workers'health and safety, for example mining environment, the emergency. So introducing mobile the robot technology and developing pit robot will be the necessary tendency in mining technology development. Mobile robot is an important branch of robotics, and its aim is studying the real-time controlling question in complex environment. This question refers to intelligent navigation, motion planning, multi-sensor information processing and fusion, robot vision, system integration technique and so on.As matter of fact, the mobile robot usually works in unstructured environment, thus, this paper emphatically studies design of basic behavior and strategy of motion planning based on the behavioral control viewpoint and the fuzzy control method and ANN applied. And hence, studied mobile robot navigation behavior design, and studied on behavior fusion strategy-based of robot motion planning, then put forward mix-open control structure and navigation that based on behavior fusion. At last, put on the simulation on MobotSim plat, and the result verified effectiveness of the navigation mode. |
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