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动态网络中机器人信息的感知与搜索策略 被引量：1

Information perception and search strategy in dynamic network for robots
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摘要 为建立一个机器人信息动态交互平台,提出机器人自主感知模型,动态建立机器人路径,并基于遗传算法优化多机器人路径。机器人自主感知模型通过抽象各种网络实体,对网络信息进行分类搜索,自主感知实时的网络传感信息,从而动态规划机器人路径。遗传算法优化用于解决多机器人的路径交叉问题,避免机器人工作空间的资源竞争。仿真和实验表明,机器人自主感知模型具有很强的扩展能力和合理的构架,突破了以往移动机器人仅仅使用自身传感器或网络固定传感器的局限,能够完成超过机器人视野范围的任务。 To build a platform to interactive dynamic information for robots, this paper proposes a robot autonomous perception model （RAPM）, builds paths for robots and optimizes paths based on genetic algorithms. RAPM can abstract the entities in Internet, classify real-time information and get those on the Internet through autonomous perception to build paths. Genetic algorithms optimize paths for multiple robots and avoid resource competition in robot workspace. The simulations and experiments show RAPM possesses greatly extended capability and proper structural frame. The method breaks the limitation that robots only use the information of own or fixing sensors on the network and fulfill themission out of the robots＇ field range.
作者 高振东 苏剑波
机构地区 上海交通大学自动化系智能机器人研究中心
出处 《系统工程与电子技术》 EI CSCD 北大核心 2006年第9期1398-1403,1407,共7页 Systems Engineering and Electronics
基金 国家"863"高技术计划基金资助课题(2001AA422260)
关键词 网络机器人 机器人自主感知模型 信息感知 遗传算法 internet-based robot robot autonomous perception model information perception genetic algorithms
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献12

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共引文献26

同被引文献7

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引证文献1

系统工程与电子技术
2006年 第9期

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