Title :
Online adaptation in autonomous robots by using proprioceptive feedback
Author_Institution :
Dept. of Comput. Sci., Zurich Univ., Switzerland
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;
Conference_Titel :
Neural Networks, 1999. IJCNN '99. International Joint Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-5529-6
DOI :
10.1109/IJCNN.1999.832700
