基于内在动机理论的移动机器人路径规划方法
作者:
作者单位:

北京工业大学

作者简介:

通讯作者:

中图分类号:

TP273

基金项目:

国家自然科学基金项目(面上项目,重点项目,重大项目)


Path planning method for mobile robot based on intrinsic motivation theory
Author:
Affiliation:

Beijing University of Technology

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    为了探讨动机在环境认知中所起作用、模仿生物环境认知行为,本文以学习自动机为框架,提出一种结合内在动机理论的移动机器人环境认知模型(CM-LA).该模型以访问次数及访问时间间隔共同定义内在动机,并以操作条件反射原理描述外在动机的影响.同时,所设计的动作选择机制可以使机器人根据已有的环境认知对新增障碍物进行有效避让.实验结果表明,本模型能够在两种动机的驱使下对环境进行有效的自主认知,并提高机器人在未知环境中的探索效率,搜索到的路径长度较短,且具有一定的环境自适应能力.

    Abstract:

    In order to explore the role of motivation in environmental cognition and imatate the environment cognitive behavior of creatures, this paper proposes a mobile robot environment cognitive model (CM-LA) combining the theory of intrinsic motivation with the framework of learning automata. The number of visits and the time interval between visits define the intrinsic motivation, and describe the impact of extrinsic motivation based on the principle of operant conditional. At the same time, the designed action selection mechanism enables the robot to effectively avoid new obstacles based on existing environmental awareness. The experimental results show that the model can effectively and autonomously recognize the environment driven by two motivations, and improve the exploration efficiency of the robot in an unknown environment. The path length searched by this method is shorter with the ability of self-adaptation to the environment.

    参考文献
    相似文献
    引证文献
引用本文
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2019-12-13
  • 最后修改日期:2020-06-05
  • 录用日期:2020-06-12
  • 在线发布日期:
  • 出版日期: