Autonomous Five Legs Robot Navigation in Cluttered Environment Using Fuzzy Q-Learning and Hybrid Coordination Node

다국어 초록 (Multilingual Abstract)

The research of legged robot was rapidly developed. It can be seen from recent ideas about newsystems of robot movement that take ideas from nature, called biology inspired. This research focused on five legs robotthat inspired from sea star (phylum echinodermata). For cluttered environment, it is necessary to uses more than onelearning module to control navigation of five legs robot. This paper proposes the use of hybrid coordination node to coordinate multi fuzzy Q-learning module. The fuzzy Q-learning was incorporated in behavior-based control structure and was considered as generation of primitive behavior like obstacle avoidance.

목차 (Table of Contents)

• Abstract
• 1. INTRODUCTION
• 2. SYSTEM DESIGN
• 3. EXPERIMENT RESULT
• 4. CONCLUSION
• 5. ACKNOWLEDGE
• REFERENCES