CAJ | 학술논문

针对移动机器人导航控制中的行为协调问题，提出了一种学习速率可控的学习自动机。该方法将机器人与障碍物之间的接触时间变化作为奖惩信号，通过主动控制机器人线速度来调节学习决策时间，根据环境动态特性调整行为动机，并通过学习决策时间和行为动机控制共同控制学习速率，保证机器人在学习决策时间内完成导航行为的协调执行。仿真证实提出的学习自动机应用于移动机器人导航控制是可行的，与动力学分岔控制方法对比，在未知动态环境中进行导航行为协调控制，提出方法的安全性更高。
침대이동궤기인도항공제중적행위협조문제，제출료일충학습속솔가공적학습자동궤。해방법장궤기인여장애물지간적접촉시간변화작위장징신호，통과주동공제궤기인선속도래조절학습결책시간，근거배경동태특성조정행위동궤，병통과학습결책시간화행위동궤공제공동공제학습속솔，보증궤기인재학습결책시간내완성도항행위적협조집행。방진증실제출적학습자동궤응용우이동궤기인도항공제시가행적，여동역학분차공제방법대비，재미지동태배경중진행도항행위협조공제，제출방법적안전성경고。
With an aim at behavior coordination problem in the mobile robot navigation control, this paper suggests a kind of learning automata with the controllable rate.The learning automata uses the contact time variation between the robot and obstacles as the reward and penalty signals to regulate the learning and decision time through the active control over robot linear velocity and to adj ust the behavior intension in terms of environ dynamic behaviors and to control over the shared management learning rate through the learning decision time and the behavior intension control,whereby ensuring that the robot can complete the coordination implementation of naviga-tion behaviors within the learning decision time.The simulation results indicate that the learning automata suggested in this paper in applying to the navigation control by mobile robot is feasible, and in comparison with the dynamic bifurcation control method,its safety in unknown dynamic environ to carry out navigation behavior coordination control is much higher.