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Robot Trajectory Tracking Method Based on Skinner Manipulative Conditioning Automata

A technology of operating conditional reflex and trajectory tracking, which is applied in the direction of instruments, adaptive control, two-dimensional position/channel control, etc., and can solve the problems of inability to adjust parameters independently and manually.

Active Publication Date: 2017-09-08
BEIJING UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Classical control methods and modern control methods are commonly used mobile robot trajectory tracking control methods. Although they are relatively mature in application, they cannot adjust parameters independently. For the same algorithm to be used in different robots and different environments, manual adjustment of parameters is required.

Method used

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  • Robot Trajectory Tracking Method Based on Skinner Manipulative Conditioning Automata
  • Robot Trajectory Tracking Method Based on Skinner Manipulative Conditioning Automata
  • Robot Trajectory Tracking Method Based on Skinner Manipulative Conditioning Automata

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Embodiment Construction

[0042] Further description will be made below in conjunction with the accompanying drawings.

[0043] The flow chart of the method of the present invention is shown in the accompanying drawings, including the following steps.

[0044] Step 1: Initialization. Let the robot state set S={e i |i=1,2,...,n s}, interval division as shown in Table 1, e i (1), e i (2) 5 intervals are divided, a total of 25; operation set A={v k ,ω j |k=1,2,...,n a1 ,j=1,2,...,n a2} Velocity and angular velocity are divided into intervals as shown in Table 2, where the velocity remains unchanged, and the angular velocity is divided into five intervals. Let the robot start from the starting point, and select the starting point coordinates as the current state of the robot. Let the initial probability set P be uniformly distributed.

[0045] Table 1 State collection interval division

[0046]

[0047] Table 2 Operation set interval division

[0048]

[0049] Step 2: The coordinate posit...

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Abstract

The invention discloses a robot trajectory tracking method based on the Skinner conditioned reflex automaton, relates to the field of mobile robot trajectory tracking, and in particular relates to a robot trajectory tracking method based on the Skinner conditioned reflex automaton. The present invention first establishes the operation and state set of the robot, and establishes the corresponding probability set from the state to the operation, and makes it conform to a uniform distribution; then, randomly selects an operation, calculates the corresponding position change, and then calculates according to the distance from the target track. The orientation function adjusts the action probability distribution according to the orientation function value according to the operant conditioning theory, and calculates the system entropy; when the system entropy tends to the minimum value, the learning ends. At this time, the probability matrix is ​​optimal. The invention can well simulate the operation conditioned reflex behavior of humans and animals, and improve the intelligence level of the robot, because it has strong self-learning, self-organizing, self-adapting capabilities, independent condition parameters, and successfully tracks tracks.

Description

technical field [0001] The invention relates to the field of trajectory tracking of mobile robots, in particular to a robot trajectory tracking method based on Skinner (Skinner) operating conditional reflex automata. Background technique [0002] With the development of autonomous mobile robot technology, the application fields of autonomous mobile robots are becoming more and more extensive. It can replace humans to reach many unreachable or dangerous environments, such as fire and earthquake search and rescue robots; it can also replace humans to do some service work, such as museum tour guides. The trajectory tracking motion control of mobile robots can not only be directly used in the fields of tracking targets, robot formations, etc., but also, tracking lines is a simplification of environmental information, which is conducive to the development of more effective algorithms for autonomous vehicles in complex environments. on the mobile robot. [0003] Classical contro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/02
Inventor 阮晓钢李笑漪肖尧张晓锐刘冰
Owner BEIJING UNIV OF TECH
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