RBFネットワークと遺伝的アルゴリズムによる自律移動ロボットコントローラの構築

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/05/01

タイトル(英語): The Autonomous Mobile Robot Controller Developed by RBF Network and Genetic Algorithm

著者名: 原　翔悟（関東学院大学），元木　誠（関東学院大学），山崎　洋一（関東学院大学），安田　恵一郎（首都大学東京）

著者名(英語): Syogo Hara (Kanto Gakuin University), Makoto Motoki (Kanto Gakuin University), Yoichi Yamazaki (Kanto Gakuin University), Keiichiro Yasuda (Tokyo Metropolitan University)

キーワード: 統合的最適化システム，自律移動ロボット，RBFネットワーク，遺伝的アルゴリズム　　integrated optimization system，autonomous mobile robot，RBF network，genetic algorithm

要約(英語): In this paper, we perform experiments that autonomous mobile robot controllers are developed in by the integrative optimization system. Autonomous mobile robot controllers are developed using meta-heuristics, if the behavior of robot is able to evaluate. However, in an actual environment, it is difficult to develop the robot controller using meta-heuristics because meta-heuristics requires large numbers of function evaluations. And large numbers of function evaluations have problems which are to increase experimental time and the maintenance cost. The integrative optimization system is a method to improve these problems. A general integrative optimization system constructs an approximate response surface by the Radial Basis Function network and optimizes to the approximate response surface by the optimization method. Through experiments in a simulator and actual environment, the authors show that it is an effective method to develop the autonomous mobile robot controller by the integrative optimization system.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.131 No.5 （2011） 特集：メタヒューリスティクスとその応用

本誌掲載ページ: 1000-1008 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/5/131_5_1000/_article/-char/ja/