Mobile Robot Combination Autonomous Behavior Strategy to Inspect Hazardous Gases in Relatively Narrow Man–Machine Environment

Chinese Journal of Mechanical Engineering

Table 1 Fuzzy control rules

	Man–machine distance R_r (m)				Interfering object linear velocity V_j (m/s)		Interference behavior pattern B_j				Robot linear velocity increment ΔV_rj (m/s)
	DS	DE	DN	DF	VS	VF	BS	BE	BL	BF	VD	VZ	VI	VR	VT
1	√				√		√				√
2	√					√	√				√
3		√			√			√					√
4		√				√		√				√
5			√		√				√					√
6			√			√			√				√
7				√	√					√					√
8				√		√				√					√

	Man–machine distance R_r (m)				Interfering object linear velocity V_j (m/s)		Interference behavior pattern B_j				Robot linear velocity increment ΔV_rj (m/s)
	DS	DE	DN	DF	VS	VF	BS	BE	BL	BF	VD	VZ	VI	VR	VT
1	√				√		√				√
2	√					√	√				√
3		√			√			√					√
4		√				√		√				√
5			√		√				√					√
6			√			√			√				√
7				√	√					√					√
8				√		√				√					√

	Man–machine distance R_r (m)				Interfering object linear velocity V_j (m/s)		Interference behavior pattern B_j				Robot linear velocity increment ΔV_rj (m/s)
	DS	DE	DN	DF	VS	VF	BS	BE	BL	BF	VD	VZ	VI	VR	VT
1	√				√		√				√
2	√					√	√				√
3		√			√			√					√
4		√				√		√				√
5			√		√				√					√
6			√			√			√				√
7				√	√					√					√
8				√		√				√					√

	Man–machine distance R_r (m)				Interfering object linear velocity V_j (m/s)		Interference behavior pattern B_j				Robot linear velocity increment ΔV_rj (m/s)
	DS	DE	DN	DF	VS	VF	BS	BE	BL	BF	VD	VZ	VI	VR	VT
1	√				√		√				√
2	√					√	√				√
3		√			√			√					√
4		√				√		√				√
5			√		√				√					√
6			√			√			√				√
7				√	√					√					√
8				√		√				√					√