Intelligent motion generator for mobile robot by automatic constructed Action Knowledge-Base using GA

Abstract

Intelligent robots, which can become a partner to us humans, need ability to act naturally. In actions of the robot, it is very important to recognize environment and move naturally. In this paper, the learning algorithm to construct knowledge of action in order to achieve tasks that is given to the mobile robot is proposed. Conventionally, the knowledge of action for the robot was mostly constructed by humans, but the more complex the information of the environment, action, and task becomes, the more trial and error must be repeated. Therefore, the robot must learn and construct the knowledge of action by itself. In this study, the action to achieve a task in an environment is generated by genetic algorithm, and it is shown that by repeatedly extracting knowledge of action, the construction of the Action Knowledge-Base concerning a task of any situation is possible.