Hybrid autonomous control for multi mobile robots

Kazuyuki Ito, Akio Gofuku

Research output: Contribution to journalArticle

10 Citations (Scopus)

Abstract

Reinforcement learning can be an adaptive and flexible control method for autonomous system. It does not need a priori knowledge; behaviors to accomplish given tasks are obtained automatically by repeating trial and error. However, with increasing complexity of the system, the learning costs are increased exponentially. Thus, application to complex systems, like a many redundant d.o.f. robot and multi-agent system, is very difficult. In the previous works in this field, applications were restricted to simple robots and small multi-agent systems, and because of restricted functions of the simple systems that have less redundancy, effectiveness of reinforcement learning is restricted. In our previous works, we had taken these problems into consideration and had proposed new reinforcement learning algorithm, 'Q-learning with dynamic structuring of exploration space based on GA (QDSEGA)'. Effectiveness of QDSEGA for redundant robots has been demonstrated using a 12-legged robot and a 50-link manipulator. However, previous works on QDSEGA were restricted to redundant robots and it was impossible to apply it to multi mobile robots. In this paper, we extend our previous work on QDSEGA by combining a rule-based distributed control and propose a hybrid autonomous control method for multi mobile robots. To demonstrate the effectiveness of the proposed method, simulations of a transportation task by 10 mobile robots are carried out. As a result, effective behaviors have been obtained.

Original languageEnglish
Pages (from-to)83-99
Number of pages17
JournalAdvanced Robotics
Volume18
Issue number1
DOIs
Publication statusPublished - Apr 5 2004

Keywords

  • Autonomous control
  • Multi mobile robots
  • QDSEGA
  • Redundant system
  • Reinforcement learning

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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