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- TUKADA Takuya
- PIONEER Co., Ltd.
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Abstract
This paper describes an evolutional computation that gives an autonomous mobile robot skill the ability to avoid obstacles and search for the shortest route in a path planning problem. We designed a robot simulator in order to provide it on a real robot, with a CCD camera giving a broader view by setting it up on the top of the pole put on the real robot. Therefore, the simulator robot can measure approximately 5 directional distances from obstacles. To make the robot receive inputs (V_0, 〜V_4) from 5 directional image's sensors, the robot's functional nodes were used in non-terminal sets and it's sensor nodes were used in terminal sets. Particularly, we improved functional node Movewj (V_0, 〜V_4) that can move back after switching the steering angle to the inverse direction. The robot, implemented with the new functional node, has reached a goal on a real map using genetic programming.
Journal
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- National Institute of Technology,Ishikawa College Bulletin
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National Institute of Technology,Ishikawa College Bulletin 39 (0), 33-38, 2007
National Institute of Technology,Ishikawa College
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Keywords
Details 詳細情報について
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- CRID
- 1390001204616125184
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- NII Article ID
- 110006407977
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- NII Book ID
- AN00014363
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- ISSN
- 24242152
- 02866110
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- NDL BIB ID
- 8898720
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- CiNii Articles
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- Abstract License Flag
- Disallowed