多輪車両による災害探索ロボットの自律的な行動獲得

抄録

A method of autonomous driving is proposed for a disaster search robot with multi-axis vehicle by use of physical modeling and machine learning. The vehicle kinetic motion is realized by physical modeling and the vehicle autonomous driving is controlled by Artificial Neural Network(ANN). ANN is optimized by real number genetic algorithm. The validity of the proposed method is verified by simulation experiments.