Online adaptation in autonomous robots by using proprioceptive feedback

Author

Salomon, Ralf

Author_Institution

Dept. of Comput. Sci., Zurich Univ., Switzerland

Volume

3

fYear

1999

fDate

1999

Firstpage

2047

Abstract

Previous research has proposed the distributed adaptive control architecture as a self-organizing controller for autonomous mobile robots. Despite its successes, practical experience has indicated several options for improvement. The paper shows how proprioceptive sensors can be used to develop controllers for real-world robots, such as Khepera, that behave very robust with respect to dynamically changing environments and sensor failures. Proprioceptive patterns refer to stimuli arising within an organism, and its usage is largely motivated by their omnipresence in nature

Keywords

CCD image sensors; adaptive control; distributed control; infrared detectors; intelligent control; mobile robots; robust control; self-adjusting systems; Khepera; autonomous mobile robots; distributed adaptive control architecture; dynamically changing environments; online adaptation; proprioceptive feedback; proprioceptive patterns; proprioceptive sensors; self-organizing controller; sensor failures; Adaptive control; Autonomous agents; Charge coupled devices; Feedback; Infrared sensors; Mechanical sensors; Mobile robots; Organisms; Robot control; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Neural Networks, 1999. IJCNN '99. International Joint Conference on

Conference_Location

Washington, DC

ISSN

1098-7576

Print_ISBN

0-7803-5529-6

Type

conf

DOI

10.1109/IJCNN.1999.832700

Filename

832700