Control system for the Khepera robot by a neural network with competition and cooperation |
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| Authors: | Kei Sugihara Masayoshi Tabuse Tatsuro Shinchi Tetsuro Kitazoe |
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| Affiliation: | (1) Department of Computer Science and Systems Engineering, Faculty of Engineering, Miyazaki University, 1-1 Gakuen Kibanadai Nishi, 889-2192 Miyazaki, Japan;(2) Center of Educational Research and Practices, Faculty of Education and Culture, Miyazaki University, Miyazaki, Japan |
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| Abstract: | This article describes a new approach to control systems for a mobile robot Khepera by using a neural network with competition and cooperation as the processing unit for the robot sensors. Competition makes only one neuron active, while cooperation keeps them all active. In our research, we find that the Khepera controlled by this neural network can maintain a smoother trajectory than when it is controlled by the output values of its own sensors, especially in noisy environments. This work was presented in part at the Fifth International Symposium on Artificial Life and Robotics, Oita, Japan, January 26–28, 2000 |
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| Keywords: | Robot control system Neural network Competition and cooperation |
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