Obstacle avoidance and navigation method for robot based on the principle of skinner manipulative conditioning

Abstract

The invention relates to a robot obstacle avoidance guiding method based on the Skinner operating condition reflection principle. The method comprises the steps that firstly, the action set probabilities of a robot are established and are evenly distributed; one action is selected at random, the corresponding position change is calculated, the negative ideal degree corresponding to a new position is worked out according to the distance between the robot and an obstacle and the distance between the robot and a target point, then the orientation function value is obtained, the action probability distribution is adjusted according to the orientation function value and the operating condition reflection principle, and system entropy is calculated; when the system entropy is close to the minimum, the robot advances by the angle at which the action with the largest probability points; the learning process is repeated until the robot arrives at the destination. According to the method, the robot can well simulate the operating condition reflex behaviors of people and animals, the intelligent level of the robot is improved, the robot has strong self-learning, self-organizing and self-adapting capabilities, the robot can explore the environment by itself and successfully avoid the obstacle to perform guiding without an advisor signal.

Description

Technical field [0001] The invention relates to the field of mobile robot obstacle avoidance navigation, and in particular to a robot obstacle avoidance navigation method based on the principle of Skinner operation conditional reflection. technical background [0002] In recent years, obstacle avoidance navigation has become a research hotspot in the field of intelligent robots. The purpose of obstacle avoidance navigation is to enable the robot to traverse various obstacles in the environment map, and reach the end point safely and without collision. The traditional obstacle avoidance navigation method can be divided into the global information known type, the global information unknown type and the part unknown type according to the different degree of information provided by the working environment. In the information-unknown navigation, the robot needs to use its own perception system to detect the external environment, so as to obtain the position and distance information o...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problems in the prior art that the intelligence level of robot obstacle avoidance navigation is not high, the present invention proposes a robot obstacle avoidance navigation method based on the Skinner operating conditional reflex principle, so that the robot can " "learning-by-doing" trial-and-error method interacts with the environment, establishes operational conditioned reflexes, and completes obstacle avoidance and navigation

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