Neural Behavior Chain Learning of Mobile Robot Actions

نویسندگان

  • Lejla Banjanovic-Mehmedovic
  • Dzenisan Golic
  • Fahrudin Mehmedovic
  • Jasna Havic
چکیده

This paper presents a visual/motor behavior learning approach, based on neural networks. We propose Behavior Chain Model (BCM) in order to create a way of behavior learning. Our behavior-based system evolution task is a mobile robot detecting a target and driving/acting towards it. First, the mapping relations between the image feature domain of the object and the robot action domain are derived. Second, a multilayer neural network for offline learning of the mapping relations is used. This learning structure through neural network training process represents a connection between the visual perceptions and motor sequence of actions in order to grip a target. Last, using behavior learning through a noticed action chain, we can predict mobile robot behavior for a variety of similar tasks in similar environment. Prediction results suggest that the methodology is adequate and could be recognized as an idea for designing different mobile robot behaviour assistance.

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عنوان ژورنال:
  • Applied Comp. Int. Soft Computing

دوره 2012  شماره 

صفحات  -

تاریخ انتشار 2012