機(jī)械手畢業(yè)設(shè)計(jì)外文翻譯--基于黑板模式整合多種領(lǐng)域達(dá)到戰(zhàn)略上為機(jī)械手導(dǎo)航-機(jī)械手-全文預(yù)覽
【正文】 rocess sensory inofputs, stored information. and longtermgoals so that the robot can make decisions with a global view of the environment. The decision about which activity will control the vehicle is based on sensory and state in based formation from the activities and therefore is a form of strategic reasoning. Behavior attributes. A behavior is a mobile robot’s response to a stimulus from the environment. We have identified six behavior attributes important to a mobile robot: Reactivity: Because the realworld environment is unstructured, the mobile robot can make few assumptions about its must react to sudden changes inthe environment within a specified timeframe. Reactive behavior is generally a welldefined action in response to a narrow domain of sensing, which gives the robot a very limited scope of our system all activities are examples of reactive behavior. l Inteelligence: By intelligence we mean the ability to cope with new or trying situations A robot’s ability to manage diverse situations and manipulate the environment to achieve a goal gives the appearance of intelligence. Although true intelligence is yet to be understood, all mobilerobot projects strive to achieve some intelligent behavior. Centralized global reasoning: A global,highlevel decisionmaking module is crucial for the robot to understand its Over all situation. This is particularly important when many independent activities, each with a narrow understanding of the situation, are trying to control the system. Areasoning agent with a global view can act as an arbiter among the activitiesto improve the system’s performance. A distinguishing feature of the system is whether the global reasoning es from a centralized, uniform representation or from cooperation among distributed modules. As an example of the use of global reasoning, consider a mobile robot traversing a narrow hallway and discovering that an object has blocked its way. Most reactive navigation algorithms would have the robot stop, turn back, or pace from side to side waiting for an opening. With a global understanding of the situation, the robot could try to find another path or push the object out of the way. All the alternatives require knowledge from other sources integrated into a unified representation. Multiplegoal resolution: For mobile robots, situations requiring conflicting concurrent actions are inevitable, and the system should provide the means to fulfill multiple objectives. An example is the possible conflict between touching an object and avoiding a collision with the object. Robustness: A system’s robustness is its ability to handle i
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