中文摘要：

为了减少移动机器人自主导航过程中过多寻求当前时刻最优路径或最优解而产生的死锁或震荡现象,根据多目标优化理论,提出了基于模糊行为融合的移动机器人避障算法.该算法把指定目标的导航过程分解为具有三个子行为的系统,根据传感器信息动态改变各子行为函数的区间权重和优先级,实时获得当前时刻最满意路径或最有效路径.实验结果证明:该算法可以有效减少导航过程中的死锁和震荡现象,提高避障过程的鲁棒性和实时性.

英文摘要：

In order to reduce the deadlock or collision phenomena,which is result from acquiring the optimal path or solution,during the navigation for mobile robot,the algorithm of obstacle avoidance based on fuzzy behavior fusion is proposed here according to the multiple objective decision making theory.The new method decomposes the navigation with given goal into three sub behaviors,which can be set different interval criterion weights or priorites at different time during navigation,to acquire the satisfying path...