Learning of Multi-Objective Behavior Coordination of a Mobile Robot
Naoyuki Kubota, Hiroyuki Masuta, Kazuhiko Taniguchi, Fumio Kojima, Toshio Fukuda · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2001
Recently, intelligent robots have been used in dangerous fields. In order to perform given tasks, the robots require various capabilities such as planning, learning, reasoning, and communicating in unknown and dynamic environments. A robot perceives its facing environment by the equipped sensors for estimating self-location and measuring distances to obstacles. As the environment is complicated and dynamic, the robot should perform flexible perception and decision making. Based on the concept of the structured intelligence, we have proposed a sensory network for the perception and multi-objective behavior coordination (MOBC) for the decision making of the robot. We discuss the effectiveness of the propose method through several experiments of a mobile robot.