移動ロボットにおけるセンサ形態と制御系の同時設計法 Simultaneous Design Method of the Sensory Morphology and Controller of Mobile Robots

この論文にアクセスする

この論文をさがす

著者

    • 杉浦 孔明 SUGIURA Komei
    • (独)情報通信研究機構 知識創成コミュニケーション研究センター Knowledge Creating Communication Research Center, National Institute of Information and Communications Technology

抄録

This paper proposes a method that automatically designs the sensory morphology of a mobile robot. The proposed method employs two types of adaptations -ontogenetic and phylogenetic- to optimize the sensory morphology of the robot. In ontogenetic adaptation, reinforcement learning searches for the optimal policy which is highly dependent on the sensory morphology. In phylogenetic adaptation, a genetic algorithm is used to select morphologies with which the robot can learn tasks faster. Our proposed method is applied to the design of the sensory morphology of a line-following robot. We carried out simulation experiments to compare the design solution with a hand-coded robot. The results of the experiments revealed that our robot outperforms a hand-coded robot in terms of the line-following accuracy and learning speed, although our robot has fewer sensors than the hand-coded one. We also manufactured a physical robot using the design solution. The experimental results revealed that this physical robot uses its morphology effectively and outperforms the hand-coded robot.

収録刊行物

  • 電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society  

    電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 128(7), 1154-1161, 2008-07-01 

    The Institute of Electrical Engineers of Japan

参考文献:  20件

参考文献を見るにはログインが必要です。ユーザIDをお持ちでない方は新規登録してください。

被引用文献:  1件

被引用文献を見るにはログインが必要です。ユーザIDをお持ちでない方は新規登録してください。

各種コード

  • NII論文ID(NAID)
    10021133185
  • NII書誌ID(NCID)
    AN10065950
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    03854221
  • NDL 記事登録ID
    9564417
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-795
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
ページトップへ