机器人的体系结构是系统研究的一个重要内容,由于传统系统模式对真实环境适应能力差、处理应激避障行为和直接规划行为过程复杂等一系列问题,笔者将反应式、反射式行为与慎思规划结合,提出一种混合式结构探测机器人导航控制策略。在处理应激避障行为和直接规划行为时,分别提出新的基于传感器的避障和规划,通过规划解决了复杂环境下的局部势能陷阱问题,在自行研制的救灾机器人CUMT-II上进行试验。结果证明,该控制结构行之有效。 Robot system architecture is an important part of system research. Due to a series of problems such as poor adaptability of traditional system model to real environment, handling of stress avoidance behavior and complicated process of direct planning, Combining with planning and planning, a hybrid structure detection robot navigation control strategy is proposed. In the process of dealing with stress avoidance behaviors and direct planning behaviors, new sensor-based obstacle avoidance and planning are proposed respectively. Local energy potential trap problems in complex environment are solved through planning. Experiments are carried out on self-developed disaster recovery robot CUMT-II . The result proves that the control structure works well.