基于模糊树图与ds 证据理论的机器人功能模块粒度划分方法.pdfVIP

第38 卷第6 期 机器人 ROBOT Vol.38, No.6 2016 年11 月 Nov., 2016 DOI ：10.13973/ki.robot.2016.0696 基于模糊树图与DS 证据理论的机器人功能模块粒度划分方法 贾松敏，张国梁 （北京工业大学信息学部，北京 100124） 摘 要：基于机器人技术中间件（RTM ）提出一种功能模块粒度划分评价方法．首先，结合模糊层次分析法 （FAHP ）获取模块功能与结构相关性指标的综合权重，构造系统相关矩阵，通过模糊树图聚类算法得到不同粒度 下的机器人系统模块划分方案；以模块独立性为原则，构建各模块划分方案的内聚度与耦合度模型，并将其视为 DS （Dempster-Shafer ）证据理论的两个证据源，建立多属性决策矩阵；通过区间偏好排序法对决策方案的信任区 间进行排序，得到机器人系统最优模块划分方案．以机器人3 维地图创建系统为例，对所提评价方法进行验证， 系统实现及结果表明了该方法的有效性和可行性． 关键词：模块划分；机器人技术中间件；模糊树图；DS 证据理论；模糊层次分析法 中图分类号：TP242 文献标识码：A 文章编号：1002-0446(2016)-06-0696-08 Granularity Partition Method for Robot Functional Modules Based on Fuzzy Dendrogram and DS Evidence Theory JIA Songmin ，ZHANG Guoliang (Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China) Abstract: A novel evaluation method of granularity partition for functional modules based on robot technology middle- ware (RTM) is proposed. Firstly, the comprehensive weights for pertinence indexes of structures and functions of modules are calculated by fuzzy analytical hierarchy process (FAHP), and correlation matrix of the system is established. A fuzzy dendrogram clustering algorithm is proposed to obtain the module partition schemes for the robot system under different granularities. To construct multi-attribute decision matrix, the models of cohesion and coupling for each scheme are struc- tured as two sources of evidences for DS (Dempster-Shafer) evidence theory based on the principle of module independence. Th