Foraging Robots
Foraging Robots
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觅食机器人
DOI：
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发表时间：
2009
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通讯作者：
A. Winfield
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文献类型：
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作者：
A. Winfield
术语表自主性在机器人技术中，自主性通常是指机器人能够自行决定下一步要采取哪些行动的程度。因此，完全自主的机器人将能够在没有人类控制或干预的情况下执行其整个任务或功能。半自主机器人具有一定程度的自主权，但需要一些人类监督。基于行为的控制 基于行为的控制描述了一类机器人控制系统，其特征是一组概念上独立的任务实现模块或行为。所有任务实现模块都能够访问机器人的传感器，并且当特定模块激活时，它能够暂时控制机器人的执行器 [2]。 Braitenburg 车辆 在机器人技术中，Braitenburg 车辆是一种概念性移动机器人，其中简单的传感器直接连接到驱动轮。因此，例如，如果左前传感器连接到右侧驱动轮，反之亦然，那么如果传感器对光敏感，机器人将自动转向光源[11]。有限状态机 在本文中，有限状态机 (FSM) 是具有固定数量状态的机器人行为模型。每个状态代表一组特定的动作或行为。机器人在任何给定时刻只能处于这些状态之一，并且状态之间的转换可以由外部或内部事件触发。
Glossary Autonomy In robotics autonomy conventionally refers to the degree to which a robot is able to make its own decisions about which actions to take next. Thus a fully autonomous robot would be capable of carrying out its entire mission or function without human control or intervention. A semi-autonomous robot would have a degree of autonomy but require some human supervision. Behaviour-based control Behaviour-based control describes a class of robot control systems characterised by a set of conceptually independent task achieving modules, or behaviours. All task achieving modules are able to access the robot's sensors and when a particular module becomes active it is able to temporarily take control of the robot's actuators [2]. Braitenburg vehicle In robotics a Braitenburg vehicle is a conceptual mobile robot in which simple sensors are connected directly to drive wheels. Thus if, for instance, a front-left-side sensor is connected to the right-side drive wheel and vice-versa, then if the sensors are light sensitive the robot will automatically steer towards a light source [11]. Finite State Machine In the context of this article a finite state machine (FSM) is a model of robot behaviour which has a fixed number of states. Each state represents a particular set of actions or behaviours. The robot can be in only one of these states at any given instant in time and transitions between states may be triggered by either external or internal events.