Abstract: Aiming at solving deadlock problem which is faced by a robot navigation under unknown and complicated environment，this paper proposes a behavior-based navigation method called“safe navigation method” which is based on a grid-based map model called “data grid”.The data grid map records not only the surrounding environment information，but also the robot path data.The safe navigation method is one of the applications of the data grid technique，which addresses the deadlock problem faced by robot navigating under unknown environment.Fuzzy logic is used to implement the behavior design and coordination.Experimental results are provided to demonstrate the performance of the proposed method.

Key words: mobilerobot, fuzzy logic, grid map

摘要： 由于未知环境下机器人导航容易出现死锁问题，设计了一种基于栅格的地图模型叫“数据栅格”，并在此基础上提出了一种基于行为的导航方法即“安全导航法”。数据栅格记录了周围环境中障碍物信息和机器人路径信息，安全导航法就是应用数据栅格技术来解决未知环境下机器人导航遇到的死锁问题。模糊逻辑用来设计和协调各种导航行为。仿真和实际环境的实验结果也证实了该方法的良好性能。

关键词: 移动机器人, 模糊逻辑, 栅格图