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©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.:100220446(2004)0120087205X,(,410083):,.,.,,.:;;;:TP24:BRESEARCHONENVIRONMENTALCOGNITIONTHEORYANDMETHODOLOGYFORMOBILEROBOTSCAIZi2xing,ZOUXiao2bing(CollegeofInformationScienceandEngineering,CentralSouthUniversity,Changsha410083,China)Abstract:Mobilerobotsinunknownenvironmenthavelittlea2priorinformation.Therefore,environmentalcognitionisthebasisoftheenvironmentmodeling,self2localization,planningandactionforautonomousnavigation.Theresearchonenvironmentalcog2nitiontheoryandmethodologyrelatestocomputerscience,artificialintelligence,psychology,neuroscience,bionics,andsoon.Itisanimportantfrontierresearchfieldoftheinterdisciplinesubjectofcognitionscience.Thecurrentstatusoftheoriesandmethodsforenvironmentalcognitionofmobilerobotsunderunknownenvironmentsaresurveyedandanalyzed.Existingproblemsarepre2sentedandissuesoffutureresearcharealsoproposed.Keywords:mobilerobot;environmentalcognition;knowledgerepresentation;evolutionarylearning1(Introduction),,[1,2].,.,,,().,,.,:.,.,,,;,;,.2(Currentresearchstatusonenvironmentalsensingofmobilerobots),.,..,:X:(60234030).:2003-05-16©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.()[3,4].;;,.[5][6][79].[10,11]..,.,(ANN)[12,13].,,;[14].,,[15].,(:)(GPS).,.,,.,[16],[17]...,.,.,[18,19].;,(POMDP).,.HansMoravec:,,,[20].,.,.3(Navigationbasedoncognitiontheory).,.,.;,.().,.3.1,,,.,.,[21,22].()(,)(pro2prioception).,[23].[24],.[25]:8820041©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[26]..,,:,,;,.3.2,.[27].[2729].:(preattentivestage).,(),..[28],,,(featuresintegrationtheory),.,(competitivemodel)[29],.[30](guidedsearchmodel),,;,,,.Marr,Marr[31],().,.[32].[33].,.,.,,.,.,,..,[34]..,.,:(bottom2up)(top2down).,,[27].,;,...,.:,?,?3.3,.??,,.[35]3:98261:©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(spatial2motor).,,;,.,,.,,,.,.,[36].,(),[37,38];[35].,.,,.:(1),,.(2)?(3).,.,,?3.4,.,.(),().,,[39].:,;.,Brooks.,,.2090[40],.,,(emergence),....4(Conclusion),.,..,.,,;,,,.(References)[1],.[J].,2000,22(6):519-526.[2],,.[J].,2002,17(4):385-390.[3]BetkeM,GurvitsL.Mobilerobotlocalizationusinglandmarks[J].IEEETransactionsonRobotics&Automation,1997,12(2):251-263.[4]MouaddibEIM,MarhicB.Geometricalmatchingformobilerobotlocal2ization[J].IEEETransactionsonRobotics&Automation,2000,160920041©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(5):542-552.[5]ElfesA.Sonar2basedreal2worldmappingandnavigation[J].IEEEJour2nalofRobotics&Automation,1987,3(3):249-265.[6],,,.[J].(),2000,40(7):112-116.[7]ShahS,AggarwalJK.Mobilerobotnavigationandscenemodelingusingstereofish2eyelenssystem[J].MachineVisionandApplications,1997,10(4):159$173.[8]TaylorCJ,KriegmanDJ.Vision2basedmotionplanningandexplorationalgorithmsformobilerobots[J].IEEETransactionsonRobotics&Au2tomation,1998,14(3):417-426.[9]DiasJ,ParedesC,FonsecaI,etal.Simultatingpursuitwithmachineexperimentswithrobotsandartificialvision[J].IEEETransactionsonRobotics&Automation,1998,14(1):1-17.[10]GroBmannA,PoliR.RobustmobilerobotlocalisationfromsparseandnoisyproximityreadingsusingHoughTransactionsformandprobabilitygrids[J].RoboticsandAutonomousSystems,2001,37(31):1-18.[11]MatiaF,JimenezA.Multisensorfusion:Anautonomousmobilerobot[J].JournalofIntelligentandRoboticSystems,1998,22(2):129-141.[12]ThrunS.Bayesianlandmarklearningformobilerobotlocalization[J].Machinelearning,1998,33(1):41-76.[13]McFetridgeL,IbrahimMY.Newtechniqueofmobilerobotnavigationusingahybridadaptivefuzzy2potentialfieldapproach[J].ComputersandIndustrialEngineering,1998,35(3):471-474.[14]CastellanosJA,MontielJMM,NeiraJ,etal.TheSpmap:aproba2bilisticframeworkforsimultaneouslocalizationandmapbuilding[J].IEEETransactionsonRobotics&Automation,1999,15(5):948-953.[15]JettoL,LonghiS,VenturiniG.Developmentandexperimentalvalida2tionofanadaptiveextendedKalmanfilterforthelocalizationofmobilerobots[J].IEEETransactionsonRobotics&Automation,1999,15(2):219-229.[16]LeonardJJ,Durrant2WhyteHF.MobilerobotlocalizationbytrackingGeometricbeacons[J].IEEETransactionsonRobotics&Automation,1991,7(3):376-382.[17]FranklinN,TverskyB,CoonV.Switchingpointsofviewsinspatialmentalmodels[J].Memory&Cognition,1992,20(5):507-518.[18],.[J].,2002,12(11):1188-1192.[19]SalichsMA,MorenoL.Navigationofmobilerobots:openquestions[J].Robotica,2000,18(2):227-234.[20]MoravecH.MindChildren:TheFutureofRobotandHumanIntelli2gence[M].Cambridge,Massachusetts:HarvardUniversityPress,1988.[21]JungM,McNauhtonB.Spatialselectivityofunitactivityinthehip2pocampalgranularlayer[J].Hippocampus,1993,3(2):165-182.[22]KnierimJ,KudrimotiH,McNaughtonB.Placecells,headdirectioncells,andthelearningoflandmarkstability[J].JournalofNeurosci,1995,15(3):1648-1659.[23]QuirkG,MullerR,KubieJ.Thefiringofhippocampalplacecellsinthedarkdependsontheratpsrecentexperience[J].JournalofNeurosci,1990,10