1999, English, Article edition: A reactive navigation method based on an incremental learning of tasks sequences Davesne, Frédéric; Barret, Claude

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Bookmark: http://trove.nla.gov.au/version/202574
Physical Description
  • text
Published
  • HAL - CCSD
  • 1999
Language
  • English

Edition details

Title
  • A reactive navigation method based on an incremental learning of tasks sequences
Author
  • Davesne, Frédéric
  • Barret, Claude
Published
  • HAL - CCSD
  • 1999
Physical Description
  • text
Subjects
Notes
  • Within the contest of learning sequences of basic tasks to build a complex behavior, a method is proposed to coordinate a hierarchical set of tasks. Each one possesses a set of sub-tasks lower in the hierarchy, which must be coordinated to respect a binary perceptive constraint. For each task, the coordination is achieved by a reinforcement learning inspired algorithm based on the heuristic which does not need internal parameters. A validation of the method is given, using a simulated Khepera robot. A goal-seeking behavior is divided into three tasks: go to the goal, follow a wall on the left and on the right. The last two tasks utilize basic behaviors and two other sub-tasks: avoid obstacles on the left and on the right. All the tasks may use a set of 5 basic behaviors. The global goal-seeking behavior and the wall-following and the obstacle avoidance tasks are learned during a step by step learning process.
  • HAL:hal-00377772, version 1
  • HAL:http:/​/​hal.archives-ouvertes.fr/​hal-00377772/​en/​
  • DOI:10.1109/​ROMOCO.1999.791048
Language
  • English
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