Autonomous Action-Mode Change in On-line Learning of a Two-Mobile Robotic System.
Tsutomu Sawada, Sumiaki ICHIKAWA, Fumio HARA · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1999
This paper deals with an autonomous action mode change in a behavior based learning of the mobile robotic system which is composed of two mobile robots consisting of a crawler and one DOF arm. The task is to carry a long bar horizontally along a compound road with keeping the barsupport distance constant. We propose an on line learning method "STL" (S-Temperature-based Learning). During the learning process, the robotic system can build up the state categorization in terms of two-dimensional sensory data (support length and support inclination). The robotic system can transit seamlessly between the learning process and the task-achieving process according to the internal state of the robotic system that is controlled by the S temperature introduced in to the STL. We show the effectiveness of STL by hardware robot experiments.