REALIZATION OF THE CONDITION REFLEX ABILITY FOR A MOBILE ROBOT
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摘要: Brooks的包容体系结构中，移动机器人控制器各个行为之间的关系是固定不变的，可以看作实现了机器人的非条件反射能力，因此控制系统没有适应性．本文提出了条件反射能力的实现方法，该方法能够和包容体系结构紧密结合，增强移动机器人的适应能力．实验证明该方法是可行的．Abstract: In Brooks'subsumption architecture, the relationship between various behaviors is fixed, and could be regarded as noncondition reflex,so the control system is lack of adaptive ability. In this paper, a new method to realize the condition reflex is proposed.It could be integrated into subsumption architecture tightly, and offers the mobile robot some adaptive ability. Experiments show that this method is feasible.
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Keywords:
- mobile robot /
- autonumous /
- subsumption architecture /
- condition reflex
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[1] Brooks R A.A Robust Layered Control System For A Mobile Robot. IEEE Journal of Robotics and Automation RA-2,,1986, 14-23 [2] Pattie Maes. The Dynamics of Action Selection. IJCAI-89, Detroit, MI, 1989, 991-997 [3] Arkin R C. Motor Schema-Based Mobile Robot Navigation. International Journal of Robotics Research, 1989,8(4):92-112 [4] Mahadevan S, Connell J. Automation Programming of Behavior-based Robots Using Reinforcement Learning. Artificial Intelligence, 1992, 311-365 [5] Pattie Maes, Brooks R A. Learning to Coordinate Behaviours. Proceeding AAAI-90, Boston,MA, 796-802 [6] Lcs www.media.mit.edu/groups/el/Projects/handy-board/misclink/index.html [7] Joseph Jones, Anita Flynn. Mobile Robot. MIT press,1995 [8] Interactive C user's Manual, Newton Lab, www.newtonlab.com.
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