| 引用本文: | 张惠娣,刘士荣.基于情感与环境认知的移动机器人自主导航控制[J].控制理论与应用,2008,25(6):995~1000.[点击复制] |
| ZHANG Hui-di,LIU Shi-rong.Autonomous navigation control for mobile robots based on emotion and environment cognition[J].Control Theory and Technology,2008,25(6):995~1000.[点击复制] |
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| 基于情感与环境认知的移动机器人自主导航控制 |
| Autonomous navigation control for mobile robots based on emotion and environment cognition |
| 摘要点击 1602 全文点击 1363 投稿时间：2007-08-25 修订日期：2008-01-01 |
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| DOI编号 10.7641/j.issn.1000-8152.2008.6.003 |
| 2008,25(6):995-1000 |
| 中文关键词 移动机器人 情感 认知 ART2神经网络 行为协调 自主导航 |
| 英文关键词 mobile robot emotion cognition ART2 networks behavior coordination autonomous navigation |
| 基金项目 国家自然科学基金资助项目(60675043); 浙江省科技计划项目(2007C21051); 杭州电子科技大学科研启动基金资助项目(KYS09150543). |
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| 中文摘要 |
| 将基于情感和认知的学习与决策模型引入到基于行为的移动机器人控制体系中, 设计了一种新的自主导航控制系统. 将动力学系统方法用于基本行为设计, 并利用ART2神经网络实现对连续的环境感知状态的分类, 将分类结果作为学习与决策算法中的环境认知状态. 通过在线情感和环境认知学习, 形成合理的行为协调机制. 仿真表明, 情感和环境认知能明显地改善学习和决策过程效率, 提高基于行为的移动机器人在未知环境中的自主导航能力 |
| 英文摘要 |
| A new autonomous navigation control system for mobile robots is presented, in which the learning and decision making model based on emotion and cognition is introduced into the control architecture of behavior-based robot system. Dynamic system approach is applied to design the basic behaviors. Continuous environment perceptions are classified into categories by Adaptive Resonance Theory-2 (ART2) networks, which are used as the environmental cognitive states in learning and decision making. Rational behavior-coordination mechanism is developed by the on-line learning of emotion and environmental cognitive. Simulations have demonstrated that the emotion and environmental cognition can obviously improve the efficiency of the learning and decision making process, and enhance the capability of autonomous navigation in behavior-based robot system under unknown environment. |