Navigation of Autonomous Mobile Robot under Decision-making Strategy tuned by Genetic Algorithm (特集 実用化に向けた適応・学習技術)
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概要
- 論文の詳細を見る
This paper describes a novel application of genetic algorithm for navigation of an autonomous mobile robot (AMR) under unknown environments. In the navigation system, the AMR is controlled by the decision-making block, which consists of neural network. To achieve both successful navigation to the goal and the suitable obstacle avoidance, the connection weights of the neural network and speed gains for predefined actions are encoded as genotypes and are tuned simultaneously by genetic algorithm so that the static and dynamic danger-degrees, the energy consumption and the distance and direction errors decrease during the navigation. Experimental results demonstrate the validity of the proposed navigation system.
- 社団法人 電気学会の論文
- 2003-10-01
著者
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Wang Fei
The University Of Tokushima Dept. Of Electrical And Electronic Engineering Faculty Of Engineering
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KAMANO Takuya
The University of Tokushima Dept. of Electrical and Electronic Engineering, Faculty of Engineering
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YASUNO Takashi
The University of Tokushima Dept. of Electrical and Electronic Engineering, Faculty of Engineering
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SUZUKI Takayuki
The University of Tokushima Dept. of Electrical and Electronic Engineering, Faculty of Engineering
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HARADA Hironobu
The University of Tokushima Dept. of Electrical and Electronic Engineering, Faculty of Engineering
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Wang Fei
The United Graduate School Of Agriculture Science Tottori University
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Harada Hironobu
The University Of Tokushima Dept. Of Electrical And Electronic Engineering Faculty Of Engineering
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Wang Fei
Department Of Forest Products Faculty Of Agriculture Kyushu University
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Kamano T
The University Of Tokushima Dept. Of Electrical And Electronic Engineering Faculty Of Engineering
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Yasuno Takashi
The University Of Tokushima Dept. Of Electrical And Electronic Engineering Faculty Of Engineering
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Suzuki Takayuki
The University Of Tokushima Dept. Of Electrical And Electronic Engineering Faculty Of Engineering
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Suzuki Takayuki
The University Of Tokushima
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