Multi-behavior fused enzyme numerical membrane control method for mobile robot in unknown environment

The invention discloses a multi-behavior fused enzyme numerical membrane control method for a mobile robot in unknown environment. The method comprises the following steps such as: calculating a linear distance and an angle of the target and the robot, determining an environment in which the robot is located, determining whether the linear distance between the robot and the target is a historicalminimum, determining whether the target and an obstacle or a wall surface are on the same side of the robot, performing multi-behavior selection, performing the selection behavior, and determining whether the mobile robot reaches the target. By combining an enzyme numerical membrane system and a multi-behavior fusion algorithm, and introducing the determination of the distance between the robot and the target and the determination that whether the target and the obstacle or the wall surface are on the same side of the robot, the multi-behavior fused enzyme numerical membrane control method fora mobile robot in unknown environment solves the deadlock problem and detour problem of autonomous walking in the unknown environment of the mobile robot to a certain extent. An enzyme numerical membrane controller is used to fuse a multi-behavior controller to enable the robot to adapt to complex environments.