A Real-Time Action Search for Autonomous Mobile Robot.
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- Fujisawa Kae
- Graduate School of Nagoya University
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- Hayakawa Soichiro
- Toyota Technological Institute
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- Aoki Takeshi
- Nagoya Municipal Ind. Res. Inst.
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- Suzuki Tatsuya
- Graduate School of Nagoya University
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- Okuma Shigeru
- Graduate School of Nagoya University
Bibliographic Information
- Other Title
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- 自律移動ロボットにおける実時間行動探索
- ジリツ イドウ ロボット ニ オケル ジツジカン コウドウ タンサク
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Abstract
A real-time action search for an autonomous mobile robot using Evolution Strategy (ES) is proposed. By searching optimal actions for facing situations in real time, the robots are relieved from the problems of categorization of the situations and a-priori-definition of rules. The basic idea of the real time action search is to balance computational amount with exactness of solutions. In order to realize this trade-off, a two-stage evaluation technique is introduced under a framework of Anytime Algorithm. The prediction and action watch dog systems are also used. Then, the feasibility is shown through the experimental results.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 17 (4), 503-512, 1999
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390001204725542144
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- NII Article ID
- 10002866183
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4728927
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed