Title :
Emotionally influenced coordination of behaviors for autonomous mobile robots
Author :
Tsankova, Diana D.
Author_Institution :
Control Syst. Dept., Tech. Univ. of Sofia, Plovdiv, Bulgaria
Abstract :
A model of amygdala is used for an emotional intervention on a behavior coordination mechanism for autonomous mobile robot navigation. Behaviors such as goal following and obstacle avoidance ones are a priori derived by Q-learning. A collision free goal following behavior is carried out by combining of previously learned behaviors. The basic mechanism of this behavior coordination is based on simple summation of corresponding action value functions. The artificial emotion mechanism is proposed to weigh the different action value functions in the summation process. The proposed behavior coordination method improves the performance of the navigation system with respect to its obstacle avoidance capability. The results are confirmed by simulations.
Keywords :
collision avoidance; mobile robots; robot programming; Q-learning; action value functions; amygdala; autonomous mobile robot navigation; behavior coordination mechanism; collision free goal following behavior; emotional intervention; navigation system; obstacle avoidance; summation process; Artificial neural networks; Biological neural networks; Convergence; Intelligent robots; Learning; Mobile robots; Navigation; Organisms; Robot kinematics; Robotic assembly;
Conference_Titel :
Intelligent Systems, 2002. Proceedings. 2002 First International IEEE Symposium
Print_ISBN :
0-7803-7134-8
DOI :
10.1109/IS.2002.1044234