Motion skills in multiple mobile robot system

被引：5

作者：

Ota, J

Arai, T

Yoshida, E

Kurabayashi, D

Sasaki, J

机构：

[1] Dept. of Prec. Machinery Engineering, Graduate School of Engineering, University of Tokyo, Tokyo 113, 7-3-1 Hongo, Bunkyo-ku

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1996年 / 19卷 / 01期

关键词：

multiple mobile robots; motion planning; motion skills;

D O I：

10.1016/S0921-8890(96)00033-4

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with how to introduce motion skills in motion planning of multiple mobile robots. The motion skills are defined as rules of ''IF (a specific situation) THEN (a specific manner of motion)'' type. Authors propose an algorithm for acquiring and utilizing the skills. First, the concept of sensor information pattern is introduced for recognizing the specific situation. Next, acquisition of the motion skills are made by induction process, which is accomplished by using hierarchical neural network. Last, simulations are made to show the effectiveness of the proposed algorithm.

引用

页码：57 / 65

页数：9

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