A fuzzy cognitive map based behavior planning method for mobile robot is proposed in this paper.Aiming at the intelligentialize advanced application problems of power substation equipment inspection robot,a logical structure of inspection tasks planning based on hierarchical hybrid complex system is presented,and the operating principle of task decomposition and task planning are given in detail.The dependent events in inspecting tasks are considered as concept nodes to present the connection weights between nodes and establish the fuzzy cognitive map model of task and behavior planning,so as to realize task decomposition and generate the action logic sequences.Meanwhile,the action sequences can be adjusted in real time with the sensor information.The proposed method is simple without introducing complicated calculations and much training.Simulation results verify the feasibility and effectiveness.%提出了一种基于模糊认知图的移动机器人行为规划方法.针对变电站设备巡检机器人智能化的高级应用问题,提出了一种分层式混合复杂系统机器人任务规划的逻辑结构,介绍了任务分解和任务规划的工作原理.以巡检作业过程中的相关事件为概念节点,给出节点之间的连接权值,建立任务行为规划的模糊认知图模型,实现了任务分解和生成行为动作逻辑序列.同时,结合机器人导航定位等传感器实时信息,自动调整机器人巡检实时动作序列.该方法不需要复杂的计算和大量的训练,实验验证了其可行性和有效性.
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