Aimed at the problem that the traditional ART-2 neural network can not recognize a gradually changing course, an eternal term memory (ETM) vector is introduced into ART-2 to simulate the function of human brain, i.e. ...Aimed at the problem that the traditional ART-2 neural network can not recognize a gradually changing course, an eternal term memory (ETM) vector is introduced into ART-2 to simulate the function of human brain, i.e. the deep remembrance for the initial impression.. The eternal term memory vector is determined only by the initial vector that establishes category neuron node and is used to keep the remembrance for this vector for ever. Two times of vigilance algorithm are put forward, and the posterior input vector must first pass the first vigilance of this eternal term memory vector, only succeeded has it the qualification to begin the second vigilance of long term memory vector. The long term memory vector can be revised only when both of the vigilances are passed. Results of recognition examples show that the improved ART-2 overcomes the defect of traditional ART-2 and can recognize a gradually changing course effectively.展开更多
稳定性-可塑性两难问题的核心是系统如何在不削弱或忘记已学习模式的同时,自适应地学习新事物.目前公认自适应谐振理论(Adaptive resonance theory,ART)能够部分解决稳定性–可塑性两难问题,但依然存在学习受样本输入顺序影响大,且存在...稳定性-可塑性两难问题的核心是系统如何在不削弱或忘记已学习模式的同时,自适应地学习新事物.目前公认自适应谐振理论(Adaptive resonance theory,ART)能够部分解决稳定性–可塑性两难问题,但依然存在学习受样本输入顺序影响大,且存在学习中心渐变样本时,带来的所谓模式漂移的问题.受进化生物学关于人类学习的幼态延续特征的启发,本文为每个F2层节点配备活跃度指示器λ,并将其反馈回F1层参与STM(Short term memory)向量的计算,使这种新型ART2网络在行为特征上具备幼态延续的显著特征,本文称之为ART2wNF(Adaptive resonance theory with neoteny feature).论文从理论上证明算法的可行性,并通过分析对随机生成样本集合的学习过程,对比了ART2wNF算法与常规ART2网络在可塑性、稳定性方面的差异以及ART2wNF在克服样本输入顺序影响等方面的优势.展开更多
The development of intelligent algorithms for controlling autonomous mobile robots in real-time activities has increased dramatically in recent years.However,conventional intelligent algorithms currently fail to accur...The development of intelligent algorithms for controlling autonomous mobile robots in real-time activities has increased dramatically in recent years.However,conventional intelligent algorithms currently fail to accurately predict unexpected obstacles involved in tour paths and thereby suffer from inefficient tour trajectories.The present study addresses these issues by proposing a potential field integrated pruned adaptive resonance theory(PPART)neural network for effectively managing the touring process of autonomous mobile robots in real-time.The proposed system is implemented using the AlphaBot platform,and the performance of the system is evaluated according to the obstacle prediction accuracy,path detection accuracy,time-lapse,tour length,and the overall accuracy of the system.The proposed system provide a very high obstacle prediction accuracy of 99.61%.Accordingly,the proposed tour planning design effectively predicts unexpected obstacles in the environment and thereby increases the overall efficiency of tour navigation.展开更多
基金Sponsored by the National Natural Science Foundation of China (Grant No. 50305005)
文摘Aimed at the problem that the traditional ART-2 neural network can not recognize a gradually changing course, an eternal term memory (ETM) vector is introduced into ART-2 to simulate the function of human brain, i.e. the deep remembrance for the initial impression.. The eternal term memory vector is determined only by the initial vector that establishes category neuron node and is used to keep the remembrance for this vector for ever. Two times of vigilance algorithm are put forward, and the posterior input vector must first pass the first vigilance of this eternal term memory vector, only succeeded has it the qualification to begin the second vigilance of long term memory vector. The long term memory vector can be revised only when both of the vigilances are passed. Results of recognition examples show that the improved ART-2 overcomes the defect of traditional ART-2 and can recognize a gradually changing course effectively.
文摘稳定性-可塑性两难问题的核心是系统如何在不削弱或忘记已学习模式的同时,自适应地学习新事物.目前公认自适应谐振理论(Adaptive resonance theory,ART)能够部分解决稳定性–可塑性两难问题,但依然存在学习受样本输入顺序影响大,且存在学习中心渐变样本时,带来的所谓模式漂移的问题.受进化生物学关于人类学习的幼态延续特征的启发,本文为每个F2层节点配备活跃度指示器λ,并将其反馈回F1层参与STM(Short term memory)向量的计算,使这种新型ART2网络在行为特征上具备幼态延续的显著特征,本文称之为ART2wNF(Adaptive resonance theory with neoteny feature).论文从理论上证明算法的可行性,并通过分析对随机生成样本集合的学习过程,对比了ART2wNF算法与常规ART2网络在可塑性、稳定性方面的差异以及ART2wNF在克服样本输入顺序影响等方面的优势.
文摘The development of intelligent algorithms for controlling autonomous mobile robots in real-time activities has increased dramatically in recent years.However,conventional intelligent algorithms currently fail to accurately predict unexpected obstacles involved in tour paths and thereby suffer from inefficient tour trajectories.The present study addresses these issues by proposing a potential field integrated pruned adaptive resonance theory(PPART)neural network for effectively managing the touring process of autonomous mobile robots in real-time.The proposed system is implemented using the AlphaBot platform,and the performance of the system is evaluated according to the obstacle prediction accuracy,path detection accuracy,time-lapse,tour length,and the overall accuracy of the system.The proposed system provide a very high obstacle prediction accuracy of 99.61%.Accordingly,the proposed tour planning design effectively predicts unexpected obstacles in the environment and thereby increases the overall efficiency of tour navigation.
