A behavior learning method of a mobile robot using view information

We propose a behavior learning method of a mobile robot using visual information. The proposed system consists of two networks for the state expression and the behavior generation. The state expression network, which is based on self-organizing algorithm, categorizes the robot´s states. Also, the behavior generation network acquires the robot´s behaviors using the output of the state expression network. Here, for training the behavior generation network, we utilize the actor-critic method as a kind of unsupervised learning scheme. We report some experimental results using the mobile robot in real environment. The mobile robot generates adaptive behaviors utilizing visual information