基于Boltzmann机神经网络认知机制的机器人趋光控制.pdfVIP

第29 卷 第12 期 控 制 与 决 策 2014 年 12 月 Vol. 29 No. 12 Control and Decision Dec. 2014 文章编号: 1001-0920 (2014) 12-2189-06 DOI: 10.13195/j.kzyjc.2013.1105 基于Boltzmann 机神经网络认知机制的机器人趋光控制 1 1,2 1 阮晓钢 , 庞 涛 , 于建均 (1. 北京工业大学电子信息与控制工程学院，北京100124；2. 沈阳航空航天大学电子信息工程学院，沈阳110136) 摘 要: 针对移动机器人未知环境下的趋光控制问题, 模拟人或动物“感知-行动”认知机制, 对具有趋光特性的移 动机器人进行设计, 提出一种基于Boltzmann 机神经网络的趋光控制方法. 该方法首先应用知识集对机器人趋光控 制器的Boltzmann 机神经网络进行趋光训练; 然后应用Boltzmann 机神经网络的运行机制实现趋光控制. 仿真实验表 明, 该方法能够提高机器人学习的控制精度. 关键词: 移动机器人；趋光技能；认知机制；Boltzmann 机 中图分类号: TP242.6 文献标志码: A Robot phototaxis control based on Boltzmann machine neural network cognitive mechanism RUAN Xiao-gang1, PANG Tao1,2 , YU Jian-jun1 (1. College of Electronic and Control Engineering，Beijing University of Technology ，Beijing 100124 ，China ；2. College of Electronic Information Engineering，Shenyang Aerospace University，Shenyang 110136，China ．Correspondent: PANG Tao ，E-mail ：pangtao163@126.com) Abstract: For mobile robot phototaxis control problems, the human or animal “perception-action” cognitive mechanism is simulated. The structure of mobile robot is designed and the method of phototaxis control is proposed based on the Boltzmann machine neural network. The Boltzmann machine neural network is trained by the knowledge set. The phototaxis control method is implemented by using the Boltzmann machine neural network operation mechanism. Simulation results show that the proposed method can improve the control accuracy and the success rate of robot learning. Key words: mobile robot ；phototaxis skill ；cognitive mechanism ；Boltzmann machine