计算机工程2018，Vol.44Issue(1)：9-16,8.DOI:10.3969/j.issn.1000-3428.2018.01.002
基于认知发育的移动机器人自主导航
Autonomous Navigation for Mobile Robot Based on Cognitive Development
摘要
Abstract
To solve the navigation problem of mobile robot in unknown environment,based on cognitive development mechanism of biology,a cognitive development model is constructed for mobile robot autonomous navigation.The neural network which can dynamically adjust the structure is designed by autonomous inserting neuron.It is used to imitate the properties of biological development and to obtain the network that can match the application requirements.The asymptotic learning characteristic is imitated through the thermodynamic process and a cognitive learning algorithm is designed,which is proved to be convergence in theory.The results of experiments show that the proposed model can make the robot obtain knowledge automatically and accumulate experience from environment like animal,and learn the skill of autonomous navigation through cognitive development.关键词
认知发育/移动机器人/自主导航/动态发育/认知学习/热力学Key words
cognitive development/mobile robot/autonomous navigation/dynamical development/cognitive leaning/thermodynamic分类
信息技术与安全科学引用本文复制引用
蔡建羡,阮晓钢,于乃功,柴洁,朱晓庆..基于认知发育的移动机器人自主导航[J].计算机工程,2018,44(1):9-16,8.基金项目
国家自然科学基金(61375086) （61375086）
北京市自然科学基金/北京市教育委员会科技计划重点项目(KZ201610005010). （KZ201610005010）
