Research On Mobile Robot's Indoor Navigation System Based On Behavioral Programming

With the increasing complexity of unmanned system application scenarios,it has brought difficulties to the software design and implementation of mobile robot unmanned systems.For example,the increase in the functional complexity of application scenarios leads to an increase in the difficulty of designing a mobile robot software system,and the subsequent development of new functions causes interaction problems between new code and existing code.The existing mobile robot indoor navigation system is not flexible enough in terms of the addition and maintenance of subsequent functions and program execution,which easily causes intensive regression testing problems.David Harel and others formally proposed the theory of behavioral programming methods in 2014.With the advantages of behavioral autonomy and positive and negative increments,the programming paradigm theory can perform the early/partial execution and integrate related applications.This thesis introduces behavioral programming into the programming of mobile robotnavigation system,and uses scene coding technology to gradually construct the reaction system according to the expected behaviors of the reaction.Based on behavioral programming,this thesis divides the mobile robot navigation system into navigation control behavior threads,global path planning behavior threads and local path planning behavior threads.Among them,global path planning is realized by using A*algorithm,and local path planning is realized by using fuzzy logic.This navigation system reduces the coupling between functional behaviors through events,bringing convenience to the subsequent addition and maintenance of new functions.This thesis verifies the effectiveness and feasibility of the application of behavioral programming in mobile robot navigation system through simulation experiments and EAI-D1 mobile robot navigation experiments.The contributions of this thesis are as follows:1)A mobile robot navigation system based on behavioral programming is proposed.The mobile robot navigation system is realized by using scenario behaviors,which changes the status quo of the traditional process-oriented or object-oriented robot software system design.2)It is proposed that the mobile robot indoor navigation system consists of navigation control behavior threads,global path behavior threads,and local path behavior threads,which are implemented by behavioral programming coding.Use behavioral programming to achieve low coupling between navigation subsystems to facilitate the addition and maintenance of new functions.3)The advantages of the mobile robot navigation system based on behavior programming are verified,and coding theory basis is provided for other complex unmanned systems to use behavioral programming,so as to solve the problem of system coupling and the interaction issues between new and existing codes in the later maintenance and upgrade stages.