基于功能/行为集成的自主式移动机器人进化控制体系结构

EVOLUTIONARY CONTROL ARCHITECTURE FOR AUTONOMOUS MOBILE ROBOT BASED ON FUNCTION/BEHAVIOR INTEGRATION

本文针对自主式移动机器人控制体系结构中两类典型方法的不足 ,提出了一种进化控制体系结构 ,实现了基于 AI模型的方法与基于行为的方法的优势互补 .文中阐述了进化控制的思想 ,并应用于移动机器人控制结构的设计 .该结构使移动机器人具备良好的学习和适应能力、较快的响应速度 ,同时拥有较好的理性和完成给定任务的能力 .

Aimed at the drawbacks, the two typical methods in autonomous mobile robot control architecture, an evolutionary control architecture is proposed in this paper which has the virtues of both AI based and behavior based methods. The idea of evolutionary control is also described and applied to the design of mobile robot control architecture. The architecture endows the robot with the ability of learning ,adaptation, quick reactive speed and rationality, also with the ability of achieving given task.