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http://repositoriodigital.ipn.mx/handle/123456789/14920
Título : | HIERARCHICAL LEARNING OF REACTIVE BEHAVIORS IN AN AUTONOMOUS MOBILE ROBOT |
Autor : | Fuentes, Olac Rao, Rajesh P. N. Van Wie, Michael |
Palabras clave : | Keywords. Robot learning, behavior-based robotics, robot navigation. |
Fecha de publicación : | 15-dic-1997 |
Editorial : | Revista Computación y Sistemas; Vol. 1 No. 2 |
Citación : | Revista Computación y Sistemas; Vol. 1 No. 2 |
Citación : | Revista Computación y Sistemas;Vol. 1 No.2 |
Resumen : | 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. |
URI : | http://www.repositoriodigital.ipn.mx/handle/123456789/14920 |
ISSN : | 1405-5546 |
Aparece en las colecciones: | Revistas |
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3.pdf | 588.59 kB | Adobe PDF | Visualizar/Abrir |
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