本文提出以包容式框架結構為基礎, 將計劃作為一種行為, 與應激式行為并行處理的思想. 與之對應的是將傳感器檢測區域分為避障區和規劃區, 如果在避障區有障礙物, 則由應激避障模塊采取相應的避障行為; 如果在規劃區有障礙物, 則由規劃模塊產生相應的輸出. 由于規劃模塊最終輸出子目標, 因此使此結構的規劃模塊具有很好的擴展性. 另外, 在處理應激避障行為和直接規劃行為時, 分別提出新的基于傳感器的避障和規劃方法, 通過機器人路徑規劃的仿真證明, 這些方法是簡潔、有效的.
關鍵詞: 混合式結構; 避障; 基于傳感器的旋轉法; 規劃; 機器人
　Abstract: In th is paper, w e describe a hybrid cont ro l arch itecture based on Subsum ing Cont ro lA rch itecture. The p lanning is regarded as a behavio r, and p rocessed synch ronist ically w ith the react ive behavio rs. Co rrespondingly, w e part it ion the detected field into an obstacle2avo idance field and a p lanning field. If an obstacle has been detected in the obstacle2field avo idance , the react ive obstacle2avo idancemodule p rocesses it, and if an obstacle has been de2 tected in p lanning field, the p lanning module p rocess it. The simulat ions of robo t path p lanning p rove that the method can fuse the react ive behavio r and the p lanning behavio r perfect ly. In addit ion, w e have given a new reac2 t ive obstacle2avo idance method and a new p lanningmethod based on senso rs. Thesemethods are p roved simp le and effect ive.
Keywords: hybrid arch itecture, avo iding obstacle, RBS, p lanning, robo t