HIERARCHICAL LEARNING OF REACTIVE BEHAVIORS IN AN AUTONOMOUS MOBILE ROBOT
Abstract. We describe an autonomous mobile robot that employs a simple sensorimotor learning algoríthm at three different behavioral levels to achieve coherent goal-directed behavior. Therobotautonomously navigates to a goal destination within an obstacle-ridden environment by using the learned beha...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 1997 |
| País: | México |
| Institución: | Instituto Politécnico Nacional |
| Repositorio: | Repositorio Digital del IPN |
| OAI Identifier: | oai:www.repositoriodigital.ipn.mx:123456789/14920 |
| Acceso en línea: | http://www.repositoriodigital.ipn.mx/handle/123456789/14920 |
| Access Level: | acceso abierto |
| Palabra clave: | Keywords. Robot learning, behavior-based robotics, robot navigation. |
| Sumario: | Abstract. We describe an autonomous mobile robot that employs a simple sensorimotor learning algoríthm at three different behavioral levels to achieve coherent goal-directed behavior. Therobotautonomously navigates to a goal destination within an obstacle-ridden environment by using the learned behaviors of obstacle detection, obstacle avoidance, and beacon following. These reactive behaviors are learned in a hierarchical manner by using a simple hillclimbing routine tbat attempts t~ find tbe optimal transfer function from perceptions to actions for each behavior. We present experimental results which show that each behavior was successfully learned by the robot witbin a reasonably short period oftime. We conclude by discussing salient features of our approach and possible directions for future research. |
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