センサリネットワークに基づく移動ロボットの適応行動

抄録

This paper deals with adaptation, evaluation, and learning for fuzzy based intelligent robotic system. The intelligence of a robot depends on the structure of hardware and software for processing information, that is, the structure determines the potentiality of intelligence. Based on perceptual information, a robot with structured intelligent makes action from four levels in parallel. In addition, the robot generates its motion through the interaction with environment, and at the same time, gradually acquires its skill based on the generated motion. In this paper, We focus on a mobile robotic system with fuzzy controller, and propose a sensory network as perception ability for the mobile robot. We discuss the effectiveness of the proposed method through computer simulation result of collision avoidance problems for the mobile robot.