智能系统学报
智能繫統學報
지능계통학보
CAAI TRANSACTIONS ON INTELLIGENT SYSTEMS
2015年
1期
97-102
,共6页
阮晓钢%庞涛%张晓平%王尔申
阮曉鋼%龐濤%張曉平%王爾申
원효강%방도%장효평%왕이신
认知机器人学%内发动机%移动机器人%趋光技能%情感智能%感觉运动系统%模糊推理方法%取向性
認知機器人學%內髮動機%移動機器人%趨光技能%情感智能%感覺運動繫統%模糊推理方法%取嚮性
인지궤기인학%내발동궤%이동궤기인%추광기능%정감지능%감각운동계통%모호추리방법%취향성
cognitive robotics%intrinsic motivation%mobile robot%phototaxis skill%emotion intelligence%sensorimo-tor system%fuzzy reasoning method%orientation
针对移动机器人的自主趋光行为问题,提出了一种基于情感智能的内发动机仿生学习机制。该学习机制以生物体感觉运动系统的学习机制为基础,包括评价环节、行为选择环节和取向环节,采用模糊神经网络构建情感模型,情感模型的输出作为评价环节的内部奖赏信号。该学习机制能够使机器人在未知环境下通过自主的学习和训练逐渐形成、发展和完善趋光行为技能,通过情感智能的作用可以增加试探成功次数和减小学习步数,仿真实验证明了该方法的有效性。
針對移動機器人的自主趨光行為問題,提齣瞭一種基于情感智能的內髮動機倣生學習機製。該學習機製以生物體感覺運動繫統的學習機製為基礎,包括評價環節、行為選擇環節和取嚮環節,採用模糊神經網絡構建情感模型,情感模型的輸齣作為評價環節的內部獎賞信號。該學習機製能夠使機器人在未知環境下通過自主的學習和訓練逐漸形成、髮展和完善趨光行為技能,通過情感智能的作用可以增加試探成功次數和減小學習步數,倣真實驗證明瞭該方法的有效性。
침대이동궤기인적자주추광행위문제,제출료일충기우정감지능적내발동궤방생학습궤제。해학습궤제이생물체감각운동계통적학습궤제위기출,포괄평개배절、행위선택배절화취향배절,채용모호신경망락구건정감모형,정감모형적수출작위평개배절적내부장상신호。해학습궤제능구사궤기인재미지배경하통과자주적학습화훈련축점형성、발전화완선추광행위기능,통과정감지능적작용가이증가시탐성공차수화감소학습보수,방진실험증명료해방법적유효성。
In this paper , a kind of bionic learning mechanism of intrinsic motivation on the basis of emotion intelli-gence is proposed for the autonomous phototaxis behavior of a mobile robot .The learning mechanism is on the basis of the learning mechanism of the sensorimotor system of a living body , including the links of evaluation , behavioral choices and orientation .The emotion model is constructed by the fuzzy neural network and the output of emotion model is taken as the internal reward signal of the evaluation link .The learning mechanism may make a robot gradu-ally form, develop and perfect the phototaxis skills by autonomous learning and training in an unknown environment .The emotion intelligence may increase the number of exploratory successes and reduce the learning steps.The simulation results demonstrated the effectiveness of this method .