2A2-F18 進化ロボティクスによる協調行動獲得に関する基礎研究

概要

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In this study, we treat the cooperative agents systems in which there are multiple autonomous mobile robots, and the 3-Dimensional balancing problem is given. This problem is an example of corresponding tasks to find the appropriate movements for multiple mobile robots. Each robot agent on a flat board keeps being balanced state by using evolutionary robotics approach. The behaviors of mobile robots are calculated by corresponding neuro-controller which consists of artificial neural networks. Evolutionary computation method is applied to evolve weight values of neuro-controller. Numerical simulations are carved out by a simulator constructed based on 3-D physical engine ODE (Open Dynamic Engine). As a result of simulations, usefulness of our approach is clarified.
一般社団法人日本機械学会の論文