Title :
Perceptual system for a mobile robot under a dynamic environment
Author :
Hashimoto, Setsuo ; Kojima, Fumio ; Kubota, Naoydu
Author_Institution :
Dept. of Syst. Function Sci., Kobe Univ., Japan
Abstract :
This paper deals with a perceptual system for a mobile robot under a dynamic environment. The mobile robot is controlled by the coupling mechanism of perceptual system and action system. Action system of the mobile robot is based on fuzzy controller. In the proposed approach, evolutionary computation is adopted to generate functions used for perceptual system which translates sensing information into perceptual information. The mobile robot can adapt to its dynamic environment by the translation using those functions without modifying current behavioral knowledge. The effectiveness of the proposal approach is demonstrated by computer experiments for obstacle avoidance problem under a dynamic environment which contains several obstacles.
Keywords :
collision avoidance; evolutionary computation; fuzzy control; knowledge based systems; learning (artificial intelligence); mobile robots; action system; behavioral knowledge; computer simulation; coupling mechanism; dynamic environment; evolutionary computation; fuzzy controller; knowledge acquisition; mobile robot; obstacle avoidance problem; perceptual information; perceptual system; sensing information; Control systems; Evolutionary computation; Fuzzy control; Fuzzy systems; Intelligent robots; Mobile robots; Motion planning; Path planning; Robot control; Robot sensing systems;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7866-0
DOI :
10.1109/CIRA.2003.1222274