Intelligent Control of Mobile Robot with Redundant Manipulator & Stereovision: Quantum / Soft Computing Toolkit

• 作者: Alena V.Nikolaeva Andrey G.Reshetnikov Kirill V.Koshelev Sergey V.Ulyanov
• 来源期刊: 人工智能进展(英文)
• 学科: 工学
• 关键词: Quantum/Soft computing optimizer Knowledge base Fuzzy controller Quantum fuzzy inference Multi-agent systems Mobile robot stereo vision
• 年，卷（期）: 2020,（2）
• 页码范围: 1-31
• 页数: 31页
• 分类号: TP2

摘要

The task of an intelligent control system design applying soft and quantum computational intelligence technologies discussed.An example of a control object as a mobile robot with redundant robotic manipulator and stereovision introduced.Design of robust knowledge bases is performed using a developed computational intelligence-quantum/soft computing toolkit(QC/SCOptKBTM).The knowledge base self-organization process of fuzzy homogeneous regulators through the application of end-to-end IT of quantum computing described.The coordination control between the mobile robot and redundant manipulator with stereovision based on soft computing described.The general design methodology of a generalizing control unit based on the physical laws of quantum computing(quantum information-thermodynamic trade-off of control quality distribution and knowledge base self-organization goal)is considered.The modernization of the pattern recognition system based on stereo vision technology presented.The effectiveness of the proposed methodology is demonstrated in comparison with the structures of control systems based on soft computing for unforeseen control situations with sensor system.The main objective of this article is to demonstrate the advantages of the approach based on quantum/soft computing.