Perception-stimulated generation of simple robot navigation behavior

Kurt Malmstrom; Joaquin Sitte; Burkhard Iske

doi:10.1117/12.417304

2 March 2001 Perception-stimulated generation of simple robot navigation behavior

Kurt Malmstrom, Joaquin Sitte, Burkhard Iske

Proceedings Volume 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII; (2001) https://doi.org/10.1117/12.417304
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

Newborn animals go through a period of adaptation and learning before they reach their full sensory-motor capa- bilities. A similar development strategy could be advantageous for newly built autonomous robots. In this paper we describe how a robot equipped with a generic, adaptive sensory and motor system con gures itself and acquires target approach behaviour purely from the exposure to sensory stimulation. Selforganising feature maps (SOM) and reinforcement learning provide the necessary adaptive mechanisms. These mechanisms are generic in the sense that they contain minimal dependencies on the actual devices used for sensor and actuator implementation. Our results demonstrate the behaviour acquisition can be achieved in autonomous fashion, in real time on a real minirobot.

Citation Download Citation

Kurt Malmstrom, Joaquin Sitte, and Burkhard Iske "Perception-stimulated generation of simple robot navigation behavior", Proc. SPIE 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, (2 March 2001); https://doi.org/10.1117/12.417304

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