کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413155 679760 2007 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Visual task identification and characterization using polynomial models
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Visual task identification and characterization using polynomial models
چکیده انگلیسی

Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, subject to noise and variation, and therefore partly unpredictable. This means that to date it is not possible to predict robot behaviour based on theoretical models. Instead, current methods to develop robot control code still require a substantial trial-and-error component to the software design process.This paper proposes a method of dealing with these issues by (a) establishing task-achieving sensor-motor couplings through robot training, and (b) representing these couplings through transparent mathematical functions that can be used to form hypotheses and theoretical analyses of robot behaviour.We demonstrate the viability of this approach by teaching a mobile robot to track a moving football and subsequently modelling this task using the NARMAX system identification technique.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 55, Issue 9, 30 September 2007, Pages 711–719
نویسندگان
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