Autonomous Knowledge Acquisition and Revision by Intelligent Data Carriers in a Dynamic Environment
Daisuke Kurabayashi*, and Hajime Asama**
*Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8550 Japan
**The Institute of Physical and Chemical Research (RIKEN), 2-1 Hirosawa, Wako-shi, Saitama, 351-0198 Japan
In this paper, we built a device and algorithm for implementation in autonomous robots that can enhance efficiency through autonomous knowledge acquisition and sharing. We also propose an algorithm to adapt our robotic system to dynamic environments. In this robotic system, the “Intelligent Data Carrier” provides navigational knowledge for autonomous mobile robots. An IDC summarizes fragmyents of knowledge from individual robots and tells the best direction toward a destination at which a robot wants to arrive. We make models of dynamic environments, and investigate the behaviors of autonomous robots that navigate using an intelligent data carrier system. We also create an algorithm that estimates the validity of knowledge in an IDC and allows the IDC to renew the knowledge autonomously. We verify effectiveness of the proposed algorithm by means of simulations.
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