基于情感与环境认知的移动机器人自主导航控制-控制理论与应用.PDFVIP

25 6 Vol. 25 No. 6 2008 12 Control Theory Applications Dec. 2008 :2008 , (1. , 200237; 2. , 310018) : , . , ART2, . , . , , . : ; ; ; ART2; ; : TP242 : A Autonomous navigation control for mobile robots based on emotion and environment cognition ZHANG Hui-di , LIU Shi-rong (1. Research Institute of Automation, East China University of Science and Technology, Shanghai 200237, China; 2. Institute of Automation, Hangzhou Dianzi University, Hangzhou Zhejiang 310018, China) Abstract: 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. Key words: mobile robot; emotion; cognition; ART2 networks; behavior coordination; autonomous navigation 1 (Introduction) , MIT AhnPicard: