Abstract
We propose a principle of constructing procedures for planning the goal-directed behavior of autonomous intelligent mobile robots of various purposes under underdetermined unstable operating conditions. To build a knowledge representation model, its typical constructions have been developed in the form of implicative decision rules formed on the basis of polyvariable conditionally dependent predicates of various content. The structure of different-in-purpose predicates of this type, which can contain both polyvariables in the form of active fuzzy semantic networks and individual variables of the “object” and “event” types associated with certain conditions of the problem environment, is determined. It is shown that the use of active fuzzy semantic networks permits one to describe various situations and subsituations of the problem environment regardless of a specific subject area, as well as to determine in general terms the relationships that can be observed by an intelligent robot in the process of planning behavior between its objects in the problem environment and the events occurring in it. Knowledge processing tools have been developed at various stages of decision inference that allow constructing effective behavior planning procedures providing autonomous intelligent mobile robots with the ability to perform complex tasks formulated as a generalized description of the target situation of the problem environment. Upper bound estimates are found for the complexity of planning procedures for purposeful behavior by an autonomous intelligent mobile robot built according to the proposed principle of organizing tools for knowledge processing and decision inference.
Similar content being viewed by others
REFERENCES
Melekhin, V.B. and Khachumov, M.V., Forms of thinking of autonomous intelligent agents: features and problems of their organization, Morsk. Intellekt. Tekhnol., 2020, vol. 1, no. 4, pp. 223–229.
Melekhin, V.B. and Khachumov, M.V., Instrumental means for managing the rational behavior of self-organizing autonomous intelligent agents, Mekhatron. Avtom. Upr., 2021, vol. 22, no. 4, pp. 171–180.
Karpov, V.E., Karpova, I.P., and Kulinich, A.A., Sotsial’nye soobshchestva robotov (Social Robot Communities), Moscow: LENAND, 2019.
Zemskikh, L.V., Smirnov, E.K., Zhdanov, A.A., and Babakova, V.V., Application of genetic algorithms for optimization of adaptive control systems of a mobile robot on a parallel computing complex, Tr. Inst. Sist. Programm. RAN, 2004, vol. 7, pp. 79–104.
Kudirin, A.A. and Nikolenko, S.I., Glubokoe obuchenie. Pogruzhenie v mir neironnykh setei (Deep Learning. Dive into the World of Neural Networks), St. Petersburg: Piter, 2018.
Melekhin, V.B., Model of representation and acquisition of new knowledge by an autonomous intelligent robot based on the logic of conditionally dependent predicates, J. Comput. Syst. Sci. Int., 2019, vol. 58, no. 5, pp. 747–765.
Plesnevich, G.S., Logic models, in Iskusstvennyi intellekt. V 3-kh kn. Kn. 2. Metody i Modeli. Spravochnik (Artificial Intelligence. In 3 Vols. Vol. 2. Methods and Models: a Handbook), Pospelov, D.A., Ed., Moscow: Radio Svyaz’, 1990, pp. 14–28.
Varlamov, O.O. and Aladdin, D.V., On the use of mivar networks for intelligent planning of the behavior of robots in the state space, Izv. Kabardino-Balkarsk. Nauchn. Tsentra Ross. Akad. Nauk, 2018, vol. 6–2, no. 86, pp. 75–82.
Kalyaev, A.V., Chernukhin, Yu.V., Noskov, V.N., and Kalyaev, I.A., Odnorodnye upravlyayushchie struktury adaptivnykh robotov (Homogeneous Control Structures of Adaptive Robots), Moscow: Nauka, 1990.
Melekhin, V.B. and Khachumov, M.V., Planning the behavior of an intelligent unmanned aerial vehicle in an underdetermined problem environment. Part 1: The structure and application of behavior frame firmware, Iskusstv. Intellekt Prinyatie Reshenii, 2018, no. 2, pp. 73–83.
Melekhin, V.B. and Khachumov, M.V., Planning purposeful activities of an intellectually autonomous robot in an underdetermined problem environment. Part II. The structure and use of frame operations, Iskusstv. Intellekt Prinyatie Reshenii, 2018, no. 3, pp. 46–56.
Melekhin, V.B. and Khachumov, M.V., Fuzzy semantic networks as an adaptive model of knowledge representation of autonomous intelligent systems, Iskusstv. Intellekt Prinyatie Reshenii, 2020, no. 3, pp. 61–72.
Flegontov, A.V., Vilkov, V.B., and Chernykh, A.K., Modelirovanie zadach prinyatiya reshenii pri nechetkikh iskhodnykh dannykh (Modeling Decision-Making Problems with Fuzzy Input Data), St. Petersburg: Lan’, 2020.
Melekhin V.B., Khachumov V.M., Intelligent system for automatic design of technological routes for processing parts in mechanical engineering, Avtom. Prom-st., 2018, no. 9, pp. 13–20.
Funding
This work was financially supported by the Russian Science Foundation, project no. 21-71-10056, https://rscf.ru/project/21-71-10056/.
Author information
Authors and Affiliations
Corresponding authors
Additional information
Translated by V. Potapchouck
Rights and permissions
About this article
Cite this article
Melekhin, V.B., Khachumov, M.V. Principle of Constructing Procedures for Planning Behavior of Autonomous Intelligent Robots Based on Polyvariable Conditionally Dependent Predicates. Autom Remote Control 83, 613–625 (2022). https://doi.org/10.1134/S0005117922040075
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1134/S0005117922040075