Identification of abnormal movement state and avoidance strategy for mobile robots

来源期刊：中南大学学报(英文版)2006年第6期

论文作者：蔡自兴 段琢华 章慧团 于金霞

文章页码：683 - 688

Key words：mobile robot;abnormal movement state;avoidance strategy

Abstract: Abnormal movement states for a mobile robot were identified by four multi-layer perceptron.In the presence of abnormality,avoidance strategies were designed to guarantee the safety of the robot.Firstly,the kinematics of the normal and abnormal movement states were exploited,8 kinds of features were extracted.Secondly,4 multi-layer perceptrons were employed to classify the features for four 4-driving wheels into 4 kinds of states,i.e.normal,blocked,deadly blocked,and slipping.Finally,avoidance strategies were designed based on this.Experiment results show that the methods can identify most abnormal movement states and avoid the abnormality correctly and timely.