Development of an evolutionary simulator and an overall control system for intelligent wheelchair
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- Imai Makoto
- Chiba University
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- Kawato Koji
- Chiba University
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- Hamagami Tomoki
- Yokohama National University
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- Hirata Hironori
- Chiba University
Bibliographic Information
- Other Title
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- 知的車椅子のための進化型シミュレータと行動統括機構の開発
- チテキ クルマイス ノ タメ ノ シンカガタ シミュレータ ト コウドウ トウカツ キコウ ノ カイハツ
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Abstract
The goal of this research is to develop an intelligent wheelchair (IWC) system which aids an indoor safe mobility for elderly and disabled people with a new conceptual architecture which realizes autonomy, cooperativeness, and a collaboration behavior. In order to develop the IWC system in real environment, we need design-tools and flexible architecture. In particular, as more significant ones, this paper describes two key techniques which are an evolutionary simulation and an overall control mechanism. The evolutionary simulation technique corrects the error between the virtual environment in a simulator and real one in during the learning of an IWC agent, and coevolves with the agent. The overall control mechanism is implemented with subsumption architecture which is employed in an autonomous robot controller. By using these techniques in both simulations and experiments, we confirm that our IWC system acquires autonomy, cooperativeness, and a collaboration behavior efficiently.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 125 (1), 67-75, 2005
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390001204658521728
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- NII Article ID
- 10014100108
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- NII Book ID
- AN10012320
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- BIBCODE
- 2005IJTIA.125...67I
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 7206645
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed