書誌事項
- タイトル別名
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- Simultaneous Design Method of the Sensory Morphology and Controller of Mobile Robots
- イドウ ロボット ニ オケル センサ ケイタイ ト セイギョケイ ノ ドウジ セッケイホウ
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抄録
This paper proposes a method that automatically designs the sensory morphology of a mobile robot. The proposed method employs two types of adaptations -ontogenetic and phylogenetic- to optimize the sensory morphology of the robot. In ontogenetic adaptation, reinforcement learning searches for the optimal policy which is highly dependent on the sensory morphology. In phylogenetic adaptation, a genetic algorithm is used to select morphologies with which the robot can learn tasks faster. Our proposed method is applied to the design of the sensory morphology of a line-following robot. We carried out simulation experiments to compare the design solution with a hand-coded robot. The results of the experiments revealed that our robot outperforms a hand-coded robot in terms of the line-following accuracy and learning speed, although our robot has fewer sensors than the hand-coded one. We also manufactured a physical robot using the design solution. The experimental results revealed that this physical robot uses its morphology effectively and outperforms the hand-coded robot.
収録刊行物
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- 電気学会論文誌Ｃ（電子・情報・システム部門誌）
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電気学会論文誌Ｃ（電子・情報・システム部門誌） 128 (7), 1154-1161, 2008
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204605033472
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- NII論文ID
- 10021133185
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- NII書誌ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 9564417
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可
