NDLI: An adaptable controller for autonomous robots operating in unexplored environments

Content Provider	IEEE Xplore Digital Library
Author	Anderson, G.T. Youlong Yang Gang Cheng
Copyright Year	2004
Description	Author affiliation: Dept. of Appl. Sci., Arkansas Univ., Little Rock, AR (Anderson, G.T.; Youlong Yang)
Abstract	Several oscillator-based robot controllers were tested for effectiveness in exploring a dynamic environment. The goal of the project was to have a team of three robots explore an arena with variable lighting and obstacle patterns and, as a team, absorb as much light as possible. Reinforcement learning was used to optimize the parameters of a coupled nonlinear oscillator controller for operation in an unknown environment. The performance of this controller was compared to those of a reactive-based controller, an oscillator controller with fixed parameters and an oscillator controller that used sensor-based parameter adjustments. Experiments indicated the reinforcement learning controller offered better performance than the other controllers. The drawback to using reinforcement learning is that a learning period is required for each milieu the robot operates in. If it is necessary to quickly explore an unknown area or a rapidly changing environment, then the controller with a sensor-based parameter adjustment has an advantage
Starting Page	695
Ending Page	700
File Size	451097
Page Count	6
File Format	PDF
ISBN	0780385667
ISSN	1062922X
DOI	10.1109/ICSMC.2004.1398382
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-10-10
Publisher Place	Netherlands
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Oscillators Robot sensing systems Robot kinematics Learning Control systems Legged locomotion Mobile robots Motion control Testing
Content Type	Text
Resource Type	Article

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