Behavior generation strategy of artificial behavioral system by self-learning paradigm for autonomous robot tasks

Dağlarlı E., Temeltaş H.

Conference on Unmanned Systems Technology X, Florida, Amerika Birleşik Devletleri, 17 - 20 Mart 2008, cilt.6962 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası: 6962
  • Doi Numarası: 10.1117/12.784332
  • Basıldığı Şehir: Florida
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

In this study, behavior generation and self-learning paradigms are investigated for the real-time applications of multi-goal mobile robot tasks. The method is capable to generate new behaviors and it combines them in order to achieve multi goal tasks. The proposed method is composed from three layers: Behavior Generating Module, Coordination Level and Emotion -Motivation Level. Last two levels use Hidden Markov models to manage dynamical structure of behaviors. The kinematics and dynamic model of the mobile robot with non-holonomic constraints are considered in the behavior based control architecture. The proposed method is tested on a four-wheel driven and four-wheel steered mobile robot with constraints in simulation environment and results are obtained successfully.