Behavior Acquisition of Mobile Robots Based on Multi-Objective Behavior Coordination.
Yusuke Nojima, Fumio Kojima, Naoyuki Kubota · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2002
This paper is concerned with behavior acquisition of mobile robots based on multi-objective behavior coordination. Based on the concept of structured intelligence, the intelligence of a robot emerges from the interaction among simple functional mechanisms. The multio-bjective behavior coordination plays a role in integrating behavioral modules. A behavioral weight is assigned to each behavioral module represented by a fuzzy controller. To situate its action to the facing environment, the robot dynamically updates behavioral weights according to spatio-temporal context of the environment. The purpose of this paper is to discuss the effectiveness of the multi-objective behavior coordination through the behavior acquisition from the viewpoint of the structured intelligence.