Robot motion decision-making method, system and device introducing emotion regulation and control mechanism

Abstract

The invention belongs to the field of intelligent robots, particularly relates to a robot motion decision-making method, system and device introducing an emotion regulation and control mechanism, andaims to solve the problems of robot decision-making speed and learning efficiency. The method comprises the following steps: generating a predicted state value of a next moment according to a currentaction variable and a state value by utilizing an environmental perception model; updating state-based on action variables, state values, immediate rewards An action value function network; obtaininga prediction track based on an environmental perception model, calculating a local optimal solution of the prediction track, carrying out differential dynamic programming, and obtaining an optimal decision based on the model; acquiring a model-free decision based on a current state and strategy as well as minimized state-motion functions and based on the state prediction error, the reward prediction error and the average reward value, generating an emotion response signal through an emotion processing computable model, and selecting a path decision according to a threshold value of the signal.The decision-making speed is gradually increased while learning efficiency is ensured.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to a robot motion decision-making method, system and device introducing an emotion regulation mechanism. Background technique [0002] A huge challenge in the current robot development is: how to learn to reason about potential dynamic changes in the environment, and learn how to effectively learn a new knowledge or skill. At present, scientists widely draw on the working mechanism of the human brain to establish a series of brain-inspired computing models in an attempt to achieve human-like intelligence. [0003] The decision-making process is a high-level cognitive processing process in the brain. A large amount of neuroscience data shows that there are two distinct decision-making systems in the human brain system: one is a declarable model-based decision-making system, which is mainly used to complete A series of goal-oriented behaviors; the other is a reflexive mo...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the scheduling process between model-based decision-making and model-free decision-making, and to balance the problem between decision-making speed and learning efficiency, the first aspect of the present invention proposes a method that introduces emotion regulation Mechanism-based robot motion decision-making method, the method includes:

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