光学的情報τを用いた移動ロボットの設計と評価

Abstract

In this paper, we consider taking tau-margin, which specifies time remaining before collision without information of speed and distance proposed in ecological psychology, into design of mobile robot. We try to reduce state-space and give robot robustness for change in speed by using tau-margin. We carried out various experiments to evaluate implemented robot. As a result, we confirmed the robot could achieve obstacle avoidance task regardless of changing in speed of the robot and complete learning of relatively complicated tasks using several robots in a short time. Finally, we confirmed acquired policy has robustness for speed of robots.