知的車椅子ロボットにおける環境パラメータを介した協調行動の獲得

概要

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This paper proposes a technique for realizing cooperation behavior emerging among intelligent wheel chairs (IWC). In order to acquire the behavior in various environments, a system with a broadcasting framework and a decision tree is implemented, which uses a frustration level indicating a dynamical internal state of an IWC. The system brings diversity among each IWC's, and resolves a deadlock of them. Moreover, in order to design an adaptive behavior, the decision tree is generated with the genetic programming. As results of experiment with simulation and real prototype IWC, we confirm the mutual concession behavior emerges in narrow aisle and cross road environment
公益社団法人計測自動制御学会の論文