NDLI: Action control method for mobile robot considering uncertainty of information

Content Provider	IEEE Xplore Digital Library
Author	Fujii, H. Yoshida, K.
Copyright Year	2005
Description	Author affiliation: Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan (Fujii, H.; Yoshida, K.)
Abstract	Autonomous robots act according to the information they acquire from the environment. However, in real environments, the acquisition of the information regarding an object is often disturbed. This paper deals with the problem of developing an intelligent control for autonomous mobile robots to make them able to adapt to dynamic environment even when the uncertainty of information exists. RoboCup soccer robot is chosen as a demonstration target. In the method we propose, robots extrapolate missing environmental information with short-term memory. However, the acquired or extrapolated information is not always certain. In order to reduce the influences caused by misunderstandings and errors of information, it might be desirable that the robots use qualitative information for the situation where the reliability of information is low. Therefore, in our method, the each robot has an integrator which switches three kinds of action selectors, "quantitative", "qualitative" and "base" according to the reliability index of information. Each action selector operates on some action modules. The action selector selects the action module according to the environmental information. The integrator which is constructed by neural network selects the most suitable action selector based on "reliability indexes" of the ball position and the self-position estimated with short-term memory. The usefulness of this control system was shown through simulations.
Starting Page	3915
Ending Page	3920
File Size	387294
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545098
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Uncertainty Intelligent robots Design engineering Systems engineering and theory Intelligent control Systems engineering education Educational technology Switches Neural networks Soccer robot Mobile robot Autonomous robot Action control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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