CAJ | 학술논문

路径规划识别是一种以位置信息为输入的在线识别。为了使C GF能在仿真中识别对手的路径和终点目标，在分析路径规划层次的基础上引入了抽象隐马尔可夫模型的识别框架。针对标准模型在对手更改终点目标和自上而下规划时无法识别的问题，提出了一种顶层策略可变的抽象隐马尔可夫模型。为模型的顶层策略增加初始分布和策略终止变量，更改了策略终止变量间的依赖关系，使下层策略能被强制终止。给出了改进后DBN结构，并通过推导条件概率更新和RB变量抽样流程实现了模型的近似推理。仿真实验表明，改进模型能准确识别给定环境下的各类典型航迹，不仅在终点目标不变时能较好地维持标准模型的识别准确率，在提供足够的观测数据后还能很好地解决变目标识别问题。
로경규화식별시일충이위치신식위수입적재선식별。위료사C GF능재방진중식별대수적로경화종점목표，재분석로경규화층차적기출상인입료추상은마이가부모형적식별광가。침대표준모형재대수경개종점목표화자상이하규화시무법식별적문제，제출료일충정층책략가변적추상은마이가부모형。위모형적정층책략증가초시분포화책략종지변량，경개료책략종지변량간적의뢰관계，사하층책략능피강제종지。급출료개진후DBN결구，병통과추도조건개솔경신화RB변량추양류정실현료모형적근사추리。방진실험표명，개진모형능준학식별급정배경하적각류전형항적，불부재종점목표불변시능교호지유지표준모형적식별준학솔，재제공족구적관측수거후환능흔호지해결변목표식별문제。
Path plan recognition has been a kind of online recognition using positions as inputs.To allow CGF to recognize opponents’paths and destinations in simulation,a recognition framework of Abstract Hidden Markov Model is introduced following analyzing the hierarchy of path plan.Since it is difficult to recognize the path plans using standard model when destinations are changed and plans are executed from top to bottom, the Abstract Hidden Markov Model with Changeable Top-level Policy is proposed.The initial distribution and termination variables of top policy were given and the relations between policy termination variables were adjusted to allow the lower policy for a forced termination.The modified DBN structure was presented,and the approximate inference was realized by deducing processes of updating conditional probability and sampling RB variables as well.Simulation experiments show that different kinds of typical paths in specific environment can be recognized efficiently with this method.The modified model not only confirms good recognition accuracy compared with the standard model under the circumstance when destination is not changing,but also performs well in solving destination changing path plan recognition problems with sufficient observation data provided.