書誌事項
- タイトル別名
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- Behavioral Acquisition of Obstacle Avoidance for a Distributed Autonomous Swimming Robot.
- ジリツ ブンサン ユウエイ ロボット ノ ショウガイブツ カイヒ コウドウ ノ カクトク
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This paper describes a design method of a robot system which consists on mechanically linked plural agents, so as to realize autonomous robots which can adaptively behave in the real world. A difficulty in designing distributed autonomous systems, is how to embed a dynamics for self organizing environment-oriented-action-rules in the systems. So, we propose a robot system which controlled by a decision making method that has oscillator and learning method based on same object functions, and which has a structure of mechanically linked agents that are identically designed, in order that each agent actively interacts with other agents and the outer world. For verifying an usefulness of the system, behavioral acquiring tests in target approaching and obstacle avoidance were implemented by using Distributed Autonomous Swimming Robot that was constructed by the proposed way. Moreover, for learning efficiency in complex tasks such as obstacle avoidance, we proposed Switching Q-learning in which previously obtained action rules were effectively used As a result, the robot acquired simple obstacle avoidance behavior, and time-sequential connections between acquired action rules were observed by interaction-based learning in a distributed autonomous system. That is, it was verified that the proposed system design method was one of the solutions of adaptive systems to complex environments.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 19 (2), 233-243, 2001
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204726257280
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- NII論文ID
- 10010814244
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 5704276
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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
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- 抄録ライセンスフラグ
- 使用不可