移动机器人环境认知理论与技术的研究

RESEARCH ON ENVIRONMENTAL COGNITION THEORY AND METHODOLOGY FOR MOBILE ROBOTS

未知环境中的移动机器人只具有较少的先验知识 ,因此对环境的认知是实现环境建模、定位、规划、行动等自主导航控制的基本前提 .移动机器人的认知理论与方法研究涉及计算机科学、人工智能、认知心理学、神经学、仿生学等领域 ,是新兴的交叉学科———认知科学的一项重要前沿研究项目 .本文介绍了移动机器人的环境感知技术与理论研究的现状 ,并从认知理论与方法出发 ,总结了有待进一步研究的相关问题 .

Mobile robots in unknown environment have little a-prior information. Therefore,environmental cognition is the basis of the environment modeling,self-localization,planning and action for autonomous navigation. The research on environmental cognition theory and methodology relates to computer science,artificial intelligence,psychology,neuroscience,bionics,and so on. It is an important frontier research field of the interdiscipline subject of cognition science. The current status of theories and methods for environmental cognition of mobile robots under unknown environments are surveyed and analyzed. Existing problems are presented and issues of future research are also proposed.