کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413207 679904 2007 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
On the use of Bayesian Networks to develop behaviours for mobile robots
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
On the use of Bayesian Networks to develop behaviours for mobile robots
چکیده انگلیسی

Bayesian Networks are models which capture uncertainties in terms of probabilities that can be used to perform reasoning under uncertainty. This paper presents an attempt to use Bayesian Networks as a learning technique to manage task execution in mobile robotics. To learn the Bayesian Network structure from data, the K2 structural learning algorithm is used, combined with three different net evaluation metrics. The experiment led to a new hybrid multiclassifying system resulting from the combination of 1-NN with the Bayesian Network, that allows one to use the power of the Bayesian Network while avoiding the computational burden of the reasoning mechanism — the so-called evidence propagation process. As an application example we present an approach of the presented paradigm to implement a door-crossing behaviour in a mobile robot using only sonar readings, in an environment with smooth walls and doors. Both the performance of the learning mechanism and the experiments run in the real robot-environment system show that Bayesian Networks are valuable learning mechanisms, able to deal with the uncertainty and variability inherent to such systems.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 55, Issue 3, 31 March 2007, Pages 253–265
نویسندگان
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