マルコフ情動モデルを備えたロボットの行動決定法

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: 2014/01/01

タイトル(英語): Behavior Selection Method of Robots Based on a Markovian Emotional Model

著者名: 綿田　将悟（山口大学大学院理工学研究科），大林　正直（山口大学大学院理工学研究科），呉本　尭（山口大学大学院理工学研究科），小林　邦和（愛知県立大学情報科学部情報科学科），間普　真吾（山口大学大学院理工学研究科）

著者名(英語): Shogo Watada (Graduate School of Science Engineering, Yamaguchi University), Masanao Obayashi (Graduate School of Science Engineering, Yamaguchi University), Takashi Kuremoto (Graduate School of Science Engineering, Yamaguchi University), Kunikazu Kobayashi (School of Information Science and Technology, Aichi Prefectural University), Shingo Mabu (Graduate School of Science Engineering, Yamaguchi University)

キーワード: 情動モデル，行動モデル構築，エージェントによる最適化，環境同定問題　　emotion model，decision-making，optimization problem，identification of unknown environment

要約(英語): In this paper, we propose a new decision making system of autonomous mobile robots based on a Markovian emotional model. In the proposed method, it is possible to build a method of determining behavior along the task by optimizing system parameters automatically. In addition, we propose a method for self-organization of a nonlinear transformation that makes it possible to convert input stimuli to internal parameters properly using a neural network. The effectiveness of the proposed method is verified through simulations of identifying unknown environments by evaluating the exploration time under five different test environments. These results showed that the automatic construction of the decision making system was performed, and valid action decisions were made effectively.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.134 No.1 （2014） 特集：スマート社会を支える電子回路技術

本誌掲載ページ: 85-93 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/134/1/134_85/_article/-char/ja/