Intelligent Control for Autonomous Mobile Robot based on Information Criterion on Virtual Environmental
Kae Doki*, Soichiro Hayakawa**, Tatsuya Suzuki*, Shigeru Okuma*, and Takeshi Aoki***
*Electrical Engineering, Grad. School of Nagoya University
**Electrical Engineering, Toyota Institute of Technology
***Nagoya Municipal Industrial Research Institute
Received:October 2, 2000Accepted:December 11, 2000Published:April 20, 2001
Keywords:real-time action search, anytime sensing, autonomous mobile robot, moving obstacle avoidance, Kullback-Leibler divergence
This paper proposes a new intelligent control method for autonomous mobile robots to acquire appropriate actions based on a real-time action search. In the proposed method, information criterion on the virtual environment is defined based on Kullback-Leibler divergence, which measures quality of the environmental information used for the action search. The robot searches suitable actions based on the environmental information whose quality is improved step by step. By applying the proposed method, the trade-off between calculation amount and information quality is taken into account, and the search process converges faster. The proposed method is applied to the moving obstacles avoidance problem, and its usefulness is verified through some simulation results.
Cite this article as:K. Doki, S. Hayakawa, T. Suzuki, S. Okuma, and T. Aoki, “Intelligent Control for Autonomous Mobile Robot based on Information Criterion on Virtual Environmental,” J. Robot. Mechatron., Vol.13 No.2, pp. 114-124, 2001.Data files:
Copyright© 2001 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.