摘要
针对移动机器人运行环境的复杂非线性特性,提出一种将重构相空间理论应用到移动机器人自适应行为选择中的混沌非线性分析方法。在所采集的一维自适应行为动作选择随机序列的基础上,重构时间序列的相空间,并计算相空间的嵌入维数、混沌吸引子和最大Lyapunov指数。计算结果表明,当运行环境中障碍物的分布密度较大时,移动机器人的自适应行为选择规律呈现混沌特性。这为结合混沌理论,给移动机器人的自适应行为选择提供更精确的控制,提供了理论基础。
This paper applied a nonlinear chaotic method of phase-space reconstruction to the adaptive behavior analysis and construction due to the complex non-linear characteristics of the mobile robot and its running environment.It reconstructed the phase-space for a set of time series which were sampled from the adaptive behavior selection.Then it computed the embedded dimension coefficient,chaotic attractive coefficient and the maximum Lyapunov index.The calculation results show that the selection rule of adaptive behavior demonstrate the chaotic characteristics when the distribution of obstacles density is large in running environment.So the chaotic theory can be used in the adaptive behavior selection and provides an adequate theoretical basis for the more precise control to the mobile robot.
出处
《计算机应用研究》
CSCD
北大核心
2012年第6期2138-2140,2144,共4页
Application Research of Computers
基金
国家自然科学基金资助项目(61075091)
山东省优秀中青年科学家奖励基金资助项目(BS2009DX034)
山东省自然科学基金资助项目(ZR2010FL003)
关键词
移动机器人
自适应行为
混沌
重构相空间
mobile robot
adaptive behavior
chaotic theory
phase-space reconstruction
