Autonomous navigation research for mobile robot

摘要

To solve the navigation problem of mobile robots in unknown environment, we develop a navigation scheme based on the bionic strategy which simulates operant conditioning mechanism. In this scheme, the tendency Cell is designed by use of information entropy which represents the tendency degree for state. The improved Q learning algorithm used as learning core to direct the learning direction. The Boltzmann machine is used to process annealing calculation, which can randomly selected navigation action. The selected strategy of action will tend to optimal with the learning process. Simulation analyses are carried out in mobile robot; results show that the proposed method is effective.