Behavior Learning for a Mobile Robot with Omnidirectional Vision Enhanced by an Active Zoom Mechanism

The authors propose an attention control method for an omnidirectional vision by an active zoom mechanism. It is implemented by controlling focal length of the camera without pan or tilt mechanism. We install an omnidirectional vision with a hyperbolic mirror to a mobile robot and apply Q-learning for its behavior acquisition. In a goal defending behavior of a soccer game, the robot can learning the behavior and the attention control works to reduce learning time. In this paper, we explain our method and experiment.