Robot Trajectory Tracking Method Based on Skinner Manipulative Conditioning Automata

Abstract

The invention discloses a robot trajectory tracking method based on the Skinner conditioned reflex automaton, relates to the field of mobile robot trajectory tracking, and in particular relates to a robot trajectory tracking method based on the Skinner conditioned reflex automaton. The present invention first establishes the operation and state set of the robot, and establishes the corresponding probability set from the state to the operation, and makes it conform to a uniform distribution; then, randomly selects an operation, calculates the corresponding position change, and then calculates according to the distance from the target track. The orientation function adjusts the action probability distribution according to the orientation function value according to the operant conditioning theory, and calculates the system entropy; when the system entropy tends to the minimum value, the learning ends. At this time, the probability matrix is ​​optimal. The invention can well simulate the operation conditioned reflex behavior of humans and animals, and improve the intelligence level of the robot, because it has strong self-learning, self-organizing, self-adapting capabilities, independent condition parameters, and successfully tracks tracks.

Description

technical field

[0001] The invention relates to the field of trajectory tracking of mobile robots, in particular to a robot trajectory tracking method based on Skinner (Skinner) operating conditional reflex automata. Background technique

[0002] With the development of autonomous mobile robot technology, the application fields of autonomous mobile robots are becoming more and more extensive. It can replace humans to reach many unreachable or dangerous environments, such as fire and earthquake search and rescue robots; it can also replace humans to do some service work, such as museum tour guides. The trajectory tracking motion control of mobile robots can not only be directly used in the fields of tracking targets, robot formations, etc., but also, tracking lines is a simplification of environmental information, which is conducive to the development of more effective algorithms for autonomous vehicles in complex environments. on the mobile robot.

[0003] Classical contro...

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