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中文摘要：
轮式移动机器人现有的避障控制方法大多需要在避障过程中进行减速处理，会影响移动效率。鉴于此，将生存理论应用于轮式移动机器人的反应式避障控制。分析非完整约束轮式机器人的仿射非线性系统模型和约束条件，利用弹性边界升维和控制模型退化的方法给出系统的生存性设计，并利用最优化方法得出机器人高速避障控制器。最后通过仿真实验，表明了轮式机器人高速避障控制的有效性。
英文摘要：
Most obstacle avoidance control methods of the wheeled mobile robot（WMR） need to decelerate during the navigation, which affects the movement efficiency. The viability theory is used to WMR obstacle avoidance reactive control. Firstly affine nonlinear system model and constraints of WMR with non-homonymic constraint are analyzed. Then, by using the elastic boundary rising dimension and degradation of control model method, the system viability design is given. The optimization method is applied to the obtained controller of the robot for high-speed obstacle avoidance. Finally, simulation experiments show the effectiveness of the high speed WMR obstacle avoidance method.
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