机器人2013，Vol.35Issue(2)：194-199,6.DOI:10.3724/SP.J.1218.2013.00194
基于不确定性分析的自主导航轨迹评测方法
Autonomous Navigation Trajectory Evaluation Method Based on Uncertainty Analysis
摘要
Abstract
In order to achieve qualitative and quantitative evaluation of autonomous navigation trajectory, a trajectory analysis method based on uncertainty cloud model is proposed. In this method, robot's trajectory features are extracted from autonomous driving and avoiding actions, and corresponding feature cloud models for position warp, direction warp and obstacle-avoidance safety distance trajectories are generated. In cloud model, expectation is the basic metric of trajectories, and the fuzziness and randomness of features are expressed by entropy and hyper-entropy. By taking advantages of uncertainty metric of cloud models, the transient state and stability in autonomous navigation can be calculated. Experiment results show that this method can effectively be used in trajectory evaluation of autonomous navigation, and it can compensate shortcomings of reinforcement learning methods in stability evaluation.关键词
轨迹评测/自主导航/不确定性分析/云模型Key words
trajectory evaluation/ autonomous navigation/ uncertainty analysis/ cloud model分类
信息技术与安全科学引用本文复制引用
阎岩,唐振民,刘家银..基于不确定性分析的自主导航轨迹评测方法[J].机器人,2013,35(2):194-199,6.基金项目
国家自然科学基金重大研究计划重点资助项目(90820306). （90820306）
