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Perception method for underwater robot environment based on immune body

An underwater robot and environment perception technology, applied in the direction of instruments, calculation models, biological models, etc., to achieve the effective effect of underwater robot environment perception ability

Inactive Publication Date: 2013-08-14
HARBIN ENG UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

There is no system or method for addressing this problem using the immune system's theory of danger perception

Method used

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  • Perception method for underwater robot environment based on immune body
  • Perception method for underwater robot environment based on immune body
  • Perception method for underwater robot environment based on immune body

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Experimental program
Comparison scheme
Effect test

Embodiment approach

[0024] The monitoring of danger signals and the interaction between subjects are realized through the immune subject algorithm as follows:

[0025] (1) System initialization: establish a decision-making database based on environmental knowledge, and pre-store a dangerous environment model set

[0026] Y={y 1 ,y 2 ,...,y j ,...,y n}

[0027] the y j , j=1,2,...,n, is the jth environment pattern, and n is the number of patterns.

[0028] (2) The monitoring subject receives dangerous stimuli from the underwater environment, and the knowledge base is updated. The updated antibody pattern set is

[0029] Y={y' 1 ,y' 2 ,...,y' j ,...,y' n}

[0030] y' j for the updated model.

[0031] (3) At time t=k, the sensory signal x collected by the monitoring subject k (t), expressed as m mode signals after filtering and fusion, record the set

[0032] X(t)={x 1 (t),x 2 (t),...,x i (t),...,x m (t)|t=k}

[0033] (4) if Judged by the risk identification subject x i (k) Th...

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Abstract

The invention belongs to the technical field of underwater robots, and in particular relates to a perception method for underwater robot environment, which can be used to solve the problem of surrounding monitoring, control, danger information processing, and obstacle avoidance for an underwater robot and other underwater submersible vehicle. The perception method comprises the following steps: mapping an immune body and the underwater robot; obtaining environment knowledge of the original state by a monitoring body, and then performing detection on abnormality in the monitored area; transmitting a signal to a danger identification body by an immune communication body; and processing the danger signal by an immune response body to eliminate the dangerous situation. The perception method can process the underwater environment information more flexibly and more changefully, overcome the deficiencies in the prior art of reliance on traditional math model, signal processing, electronic and sensor information processing methods which lack suitability for complex and various environments, and can break the limitation of environment sensing method of convention underwater robot, so that the environment sensing ability of the underwater robot is more effective and more flexible.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, and in particular relates to an environment perception method for an underwater robot that can be used to solve the problems of monitoring, monitoring, dangerous information processing, obstacle avoidance, and the like around the underwater robot and other underwater submersible equipment. Background technique [0002] The biological immune system, especially the human immune system, is the result of long-term evolution in nature. Various immune molecules, cells, and organs are combined to comprehensively perceive and utilize internal and external information, and flexibly process these information. Various components (intelligent agents) coordinate The work completes identification, stabilization, and defense tasks to protect human health. Using the immune system mechanism, a computer security immune system has been designed for defense and identification of computer viruses, bad infor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06N3/00
Inventor 莫宏伟徐立芳雍升孙泽波胡嘉祺孟龙龙
Owner HARBIN ENG UNIV