あいまい行動型制御 : 第3報,モジュール学習と外界センサ情報を用いた適応型融合ユニットによる行動統合(機械力学,計測,自動制御)

概要

論文の詳細を見る
In order to obtain more effective coordinated behaviors against changes in environments or unlearned environments, we here propose a new fusion unit using external sensor information for a fuzzy behavior-based control system trained in the framework of module learning. The present fusion unit falls into a class of adaptive priority-based architecture in which the fusion between behavioral elements is carried out by a cooperation or comnetition strategy, depending on whether an objective point or obstacle can be detected or not. Some experimental results of a miniature mobile robot Khepera show that the proposed metcod is superior to the conventional method that applies a fusion unit based on a fixed priority-based architecture.
社団法人日本機械学会の論文
2003-01-25