Fuzzy behaviour learning for sony legged robots
نویسندگان
چکیده
This paper presents a learning reactive control scheme for the Sony legged robots to play soccer. We built a behavior-based architecture that consists of a set of reactive behaviors and a deliberative reasoning component to select or cc-ordinate the reactive behaviors. The major reactive behavior is for a Sony robot to move towards the ball, guided by on-board sensors. Fuzzy logic is used to encode the robot behavior. The learning of a FLC is conducted in two stages:learning parameters by GA and learnign its structure by Q-learning.
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تاریخ انتشار 2001