DocumentCode :
3129757
Title :
A reactive navigation method based on an incremental learning of tasks sequences
Author :
Davesne, Frédéric ; Barret, Claude
Author_Institution :
Evry Univ., France
fYear :
1999
fDate :
1999
Firstpage :
29
Lastpage :
34
Abstract :
Within the contest of learning sequences of basic tasks to build a complex behavior, a method is proposed to coordinate a hierarchical set of tasks. Each one possesses a set of sub-tasks lower in the hierarchy, which must be coordinated to respect a binary perceptive constraint. For each task, the coordination is achieved by a reinforcement learning inspired algorithm based on the heuristic which does not need internal parameters. A validation of the method is given, using a simulated Khepera robot. A goal-seeking behavior is divided into three tasks: go to the goal, follow a wall on the left and on the right. The last two tasks utilize basic behaviors and two other sub-tasks: avoid obstacles on the left and on the right. All the tasks may use a set of 5 basic behaviors. The global goal-seeking behavior and the wall-following and the obstacle avoidance tasks are learned during a step by step learning process
Keywords :
learning (artificial intelligence); mobile robots; navigation; optimisation; path planning; Khepera robot; binary perceptive constraint; coordination; goal-seeking behavior; heuristic; incremental learning; mobile robots; obstacle avoidance; reactive navigation; reinforcement learning; tasks sequences; Context modeling; Feedback; Learning systems; Mobile robots; Navigation; Optimization methods; Robot kinematics; Space exploration; Stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
Conference_Location :
Kiekrz
Print_ISBN :
0-7803-5655-1
Type :
conf
DOI :
10.1109/ROMOCO.1999.791048
Filename :
791048
Link To Document :
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