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随着现代开放式室内设计理念的流行,一些功能场所逐渐转变为开放或半开放式,对这类场所的认知成为服务机器人面临的新挑战.文中提出一种基于认知心理学原型理论的算法来提高机器人对开放式室内场所的认知能力.首先,设计场所概念的原型模型,主要包括场所概念的特征物品描述和物品间典型空间关系描述.然后提出一种相似性度量函数及一种空间关系评分准则,将两者用于度量当前环境与场所概念原型的相似程度.最后,讨论场所区域感知问题及区域交叠对场所概念感知的影响.仿真实验表明,该算法能够解决对开放式室内场所的感知,具有一定灵活性和鲁棒性.
With the popularization of the concept of modern open interior design, some functional places are gradually transformed into open or semi-open style, and the cognition of such places becomes the new challenges that service robots face.In this paper, a prototype theory based on cognitive psychology Algorithm to improve the robot’s cognition ability to the open indoors.Firstly, the prototyping model of the design place concept mainly includes the description of the characteristic items of the place concept and the description of the typical spatial relationship between the items.Then, a similarity measure function and a Space relationship scoring criteria, both of which are used to measure the similarities between the current environment and the concept archetype of the site.Finally, the paper discusses the influence of the area awareness and the regional overlap on the concept perception of the site.The simulation results show that the algorithm can solve the problem of open Indoor location of the perception, with a certain degree of flexibility and robustness.