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

Abstract Selecting the optimal speed for dynamic obstacle avoidance in complex man–machine environments is a challenging problem mobile robots inspecting hazardous gases. Consideration of personal space important, especially relatively narrow such as warehouses and laboratories. In this study, human robot behaviors are analyzed, social force model established to study speed. Four typical behavior patterns investigated design strategy. Based on patterns, fuzzy-PID trajectory tracking control method autonomous strategy gases environment proposed determine avoidance. The simulation analysis results show that compared with traditional PID method, controller has position error less than 0.098 m, an angle 0.088 rad, smaller steady-state error, shorter convergence time. crossing encountering pattern experiment ensures maintains safe distance from humans while performing tracking. This research proposes combination gases, ensuring achieve avoidance, reducing anxiety increasing comfort environment.