A locomotion performance learning of the mobile robot

Improvement of the environmental model to avoid the lapse time of observation and action by analyzing the data of the last run is called locomotion performance learning. The algorithm of the learning is expressed by rewriting rules on the trajectory data. The algorithm is implemented on mobile robot HARUNOBU-4, and tested in the university campus. Experimental results show that after the learning 83% of the observation times and 18% of locomotion times are cleared