書誌事項
- タイトル別名
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- Real-Time Decision Making of Autonomous Robot under Uncertainty of State Estimation by Using Particle Filter and Q-MDP Value Method
- パーティクルフィルタ ト Q MDPホウ ニ ヨル ジョウタイ スイテイ ノ フ タシカ サ オ コウリョ シタ ジリツ ロボット ノ ジツジカン コウドウ ケッテイ
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抄録
We propose the real-time Q-MDP value method for decision making of a robot under uncertain state recognition. When the computation result of a control problem is known on the assumption that recognition is certain, the original Q-MDP value method decides an appropriate action based on uncertain recognition. The method is not suitable for real-time decision making due to the complexity of probability calculation. In the real-time Q-MDP value method, a particle filter that is utilized for state estimation is directly used for the probability calculation. The proposed method can make it possible to execute the Q-MDP value method in real-time. The proposed method is applied to total behavior of a goalkeeper for robot soccer competition. Experiments and actual games have suggested that this method can decide actions effectively according as uncertain result of state estimation.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 25 (1), 103-112, 2007
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204727090688
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- NII論文ID
- 10018695586
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 8635906
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可