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为了更好地衔接水下机器人(AUV)规划层与控制层,参考Itti视觉注意力模型,提出了基于注意力机制的规划指令理解模型,建立了规划指令理解与再次规划环节.通过使用模糊推理的方法对指令元素特征、指令元素显著性进行分析处理,得到规划指令注意力聚焦;根据注意力聚焦进行再次规划,保证规划层关注的状态得到优先执行.仿真实验表明文章提出的规划指令理解环节实现了对规划层指令意图的获取,使规划指令得到更好地执行,有效地改善运动控制效果,提高了控制层的智能水平.
In order to better connect AUV planning layer and control layer, the Itti visual attention model is proposed, and a planning instruction understanding model based on attention mechanism is proposed, and a planning instruction comprehension and re-planning link is established. By using fuzzy inference Method to analyze the salient features of instruction elements and the significance of instruction elements to get the attention of planning instruction; re-planning according to the focus of attention to ensure that the state of attention of the planning layer gets preferential implementation.The simulation shows that the instruction of planning instruction It realizes the acquisition of the instruction intention of the planning layer, enables the execution of the planning instruction better, effectively improves the effect of the motion control, and improves the intelligence level of the control layer.