智能机器人神经心理模型

Neuropsychological model for intelligent robot

为了从结构、功能和行为3个层面对智能机器人体系结构进行一体化描述,本文提出了智能机器人神经心理模型.借鉴脑的3个基本机能联合区理论建立了智能机器人的神经生理结构模型,将机器人思维系统划分为感知区、反射区和慎思区,每个区均由三级皮层构成,采用拓展的BD I逻辑(机器人心智逻辑RML)描述机器人的认知心理机制,给出了神经心理框架下的机器人智能行为过程,从理论上证明了RML的可靠性与完备性,采用水下机器人编队穿越未知雷区的对比仿真实验验证了神经心理模型的可行性和有效性.

In order to depict an intelligent robot in three different levels： architecture, functions, and behaviors, a neuropsychological model for intelligent robot is presented in this paper. A neurophysiological architecture is first proposed based on the theories of principal function units of brain. The thinking system of a robot is then partitioned into three function units： perception unit, reflex unit, and deliberate unit. Each unit is composed of three cortices. A robot mental logic （RML） system, extended from BDI logic, is employed for explaining the cognitive psychological mechanism of robot. Based on the proposed model, the acting process of intelligent behaviors is also given. The reliability and completeness of RML is proved theoretically. Finally, the feasibility and validity are demonstrated by comparison simulation experiments with autonomous underwater vehicle formation cruising through an unknown water mine area.