Navigation of Autonomous Mobile Robot under Decision-making Strategy tuned by Genetic Algorithm

カテゴリ: 全国大会

論文No: 3-089

グループ名: 【全国大会】平成15年電気学会全国大会論文集

発行日: 2003/03/17

タイトル(英語): Navigation of Autonomous Mobile Robot under Decision-making Strategy tuned by Genetic Algorithm

著者名: Fei Wang(徳島大学),Takuya Kamano(徳島大学),Takashi Yasuno(徳島大学),Takayuki Suzuki(徳島大学),Hironobu Harada(徳島大学)

著者名(英語): Fei Wang(The University of Tokushima),Takuya Kamano(The University of Tokushima),Takashi Yasuno(The University of Tokushima),Takayuki Suzuki(The University of Tokushima),Hironobu Harada(The University of Tokushima)

キーワード: AMR|Navigation|Obstacle Avoidance|Decision-making|Genetic Algorithm|Danger-degree

要約(日本語): This paper describes a novel application of genetic algorithm for navigation of an autonomous mobile robot (AMR) under unknown environments. In the navigation system, the AMR is controlled by a decision-making block, which consists of neural network. To achieve both successful navigation to the goal and the suitable obstacle avoidance, the connection weights of the neural network and speed gains for predefined actions are encoded as genotypes and are tuned simultaneously by genetic algorithm so that the static and dynamic danger-degrees, the energy consumption and the distance and direction errors decrease during the navigation to the goal. To confirm the validity of the proposed control system, the experimental result under unknow condition is demonstrated.

原稿種別: 日本語

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