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Robot attitude path target track optimization cognitive development method

A target track and robot technology, which is applied in the field of robot attitude path target track optimization simulation, can solve problems that do not involve human and animal neural activity and self-regulation mechanism, and endow robots with other problems.

Inactive Publication Date: 2018-04-10
NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

[0007] However, neither of the above two patents involves the practical exploration of endowing the neural activity and self-regulation mechanism of humans and animals to robots

Method used

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  • Robot attitude path target track optimization cognitive development method
  • Robot attitude path target track optimization cognitive development method
  • Robot attitude path target track optimization cognitive development method

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Embodiment Construction

[0046] specific implementation plan

[0047] The present invention aims at learning the continuous behavior of two-wheeled robots, simulating human psychological cognition mechanism and brain nerve movement phenomenon, based on the cognitive development algorithm (CBCLA) thinking activity of human cerebellum-basal ganglia-cerebral cortex circuit, and proposes a Based on the cognitive development method of robots, it is applied to the research of path planning of mobile robots. In an unknown environment, the robot gradually masters the skill of motion balance control through autonomous learning and development, and realizes real-time tracking of the target.

[0048] Based on the above ideas, create a cognitive development method for robot attitude path target track optimization. This method combines the human cognitive development algorithm (CBCLA) thinking based on the cerebellum-basal ganglia-cerebral cortex circuit with the robot. This robot The cognitive development proces...

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Abstract

The invention provides a robot attitude path target track optimization cognitive development algorithm CBCLA. The method is divided into eight parts, that is, a limited internal state set, a system output set, an internal operation behavior set, a state transfer equation, an internal state of the system at the moment t, an evaluation function, striatum matrix action selection probability output and dopamine energy respectively, wherein the eight parts can be expressed by an eight-member array: CBCLA={SC, MC, CbA, f, r(t), BGstrio, BGmatrix, SNDPA}. The method simulates neural activity of a sensory motor system of an organism, takes learning automaton as a frame and combines the feature that an intrinsic motivation mechanism drives autonomic learning of the organisms; the cognitive development algorithm is applied to mobile robot path planning and study; and the robot can gradually master motion balance control skills through autonomic learning development under an unknown environment,and realizes real-time tracking of a target.

Description

Technical field: [0001] The invention belongs to the technical field of intelligent robots, and relates to a method for optimizing and simulating a robot posture path target track. technical background: [0002] The embodiment of intelligent behavior of humans and animals is learning and memory. Various skills are slowly formed and developed in the process of self-learning and self-organization of the nervous system, learning and simulating the neural activities and self-control of humans and animals. It is an important research topic of artificial intelligence and control science to regulate the mechanism and give it to intelligent robots. In 1996, J. Weng first proposed the idea of ​​autonomous mental development of robots. He believed that the intelligent body should develop mental abilities by simulating the human brain and interacting with the unknown environment through sensors and effectors under the control of the internal developmental program. Brooks and others em...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/12
CPCG05B13/048G05D1/12
Inventor 任红格史涛宫海洋李福进李军尹瑞徐少彬赵传松杜建王玮
Owner NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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