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The Research about the Decision System of Multi-robots Navigation Behavior Based on the Emotion Apperceive

Author: LiuXiangYu
Tutor: ZengBi
School: Guangdong University of Technology
Course: Applied Computer Technology
Keywords: Multi-robot Navigation Priority Emotional perception Willingness to strength
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 73
Quote: 0
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Abstract


Multi-robot system as a manual system is actually a system of nature and human society groups a simulation. Multi-robot collaboration and control the basic idea of ??the research is the multi-robot system as a group or a society, from the perspective of organizations and systems research collaboration mechanisms between multiple robots, multiple robot systems to maximize the inherent advantage. Navigation is one of the important research topic for mobile robots, multiple mobile robot navigation, including not only the robot work environment modeling, path planning and robot motion control also includes multi-robot communication and information fusion research. Currently, globally known environment under a single robot navigation technology has matured. However, in a complex global environment unknown to effective implementation of multi-robot navigation, is still a pressing problem. This paper studied the three key issues for such robots to solve the working environment modeling, path planning, and information exchange, and therefore has a greater theoretical significance and application value. The main contents are as follows: 1) The subject of multi-robot system based on the priority of the master-slave multi-robot collaborative navigation structure between each robot via wireless communication, decision-making in the execution behavior and judge the situation of their own surroundings, facing an environmental The situation drawn the priority for each robot. Has the highest priority of the robot is a temporary master robot encountered conflict priority actions and directing other rights from the robot. So that each robot has both an independent decision-making ability and not leave groups too dispersed to ensure efficient robot to complete the task. 2) robot navigation behavior decisions, the introduction of the concept of emotional perception, used to describe the obstacles in the robot surroundings robot behavior. Learning and decision-making model based on emotional perception is a new reinforcement learning algorithm, the model will be intrinsic reward from emotion and from the perception of external rewards as learning and decision-making motive. The introduction of the model to the multi-robot navigation in the decision-making system, construct a new decision-making system of mobile robot navigation. Emotion perception through online-based learning, the formation of multiple robot collaboration mechanisms to improve the self-adaptive mobile robot navigation in unknown environments, so that the robot faster, more efficient autonomous navigation tasks. 3) robot navigation behavior decisions, the introduction of the wishes of the strength of the concept used to describe the target point of the robot. If the robot is the direction of movement toward the target, the robot at this time in the direction movement of willingness greater intensity; the contrary, the smaller. This allows the robot to the goal behavior become clear, direct of. Simulation results show that the subject of the research algorithm to achieve multi-robot autonomous navigation, and emotional perception and willingness strength of ideas, so this topic shows a more efficient, accurate, humane characteristics. Summarizes the papers last innovation of this paper and the main research and pointed out the problems to be further studied.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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