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研究了不确定性环境下移动机器人躲避运动轨迹未知的移动障碍物的一种新方法．通过实时最小均方误差估计算法预测每个障碍物的位置及运动轨迹，并利用模式识别中最小均方误差分类器的修正模型计算出机器人的局部避障路径，再运用船舶导航中使用的操纵盘技术来确定每个导航周期中移动机器人的速．度仿真结果表明了该方法的可行性
A new method for moving robots to avoid moving obstacles whose motion trajectories are unknown under uncertainty is studied. The real-time least mean square error estimation algorithm is used to predict the position and motion trajectory of each obstacle. The local obstacle avoidance path of the robot is calculated by the modified model of the least mean square error classifier in pattern recognition, and then the maneuver used in ship navigation Disk technology to determine the speed of the mobile robot in each navigation cycle. Degree simulation results show the feasibility of this method