Mobile robot multi-behavior syncretizing automatic navigation method under unknown environment

The invention discloses a multi-behavior combining auto-navigation method for a mobile robot in an unknown environment. The method is characterized in that the method comprises the following steps that (1) current azimuth angle is obtained in real time according to the relative positions of an object and the mobile robot, and a plurality of distance parameters are obtained in real time according to the status of obstacles around the mobile robot; (2) a multi-output support vector machine fuzzy controller outputs a corner value theltai and a velocity value vi according to the obtained azimuth angle and distance parameters, wherein i is equal to 1, 2 or 3; (3) a multi-output support vector machine environmental-identification controller inputs signals and outputs weight parameters wi of three subbehaviors according to input signals of the azimuth angle and the distance parameters, wherein i is equal to 1, 2 or 3; and (4) current corner value theltai and velocity value vi of the mobile robot used for navigation are calculated according to the formula. The multi-behavior combining auto-navigation method adopts intelligent control strategy, and has the advantages of strong self adaptation, high navigation reliability and excellent effect.