Behavioural cloning in control of a dynamic system

Author

Esmaili, Nasser ; Sammut, Claude ; Shirazi, G.M.

Author_Institution

Sch. of Comput. Sci. & Eng., New South Wales Univ., Kensington, NSW, Australia

Volume

3

fYear

1995

fDate

22-25 Oct 1995

Firstpage

2904

Abstract

Navigation is one of the standard tasks in the mobile robot domain. In order for a mobile robot to accomplish a non-trivial task, the task should be described in terms of primitive actions of the robot´s actuators. The complete navigation problem can be broken down into related sub-tasks, which is referred to as “behaviours” in this paper. the authors have used a locally designed mobile robot in an experiment in order to acquire a primitive behaviour, object avoidance. Two different algorithms have been used for comparison purpose. This paper discusses the results of this comparison

Keywords

learning (artificial intelligence); mobile robots; motion control; navigation; path planning; behavioural cloning; dynamic system; mobile robot; nontrivial task; object avoidance; primitive actions; primitive behaviour; Cloning; Control systems; Decision trees; Humans; Learning systems; Machine learning; Mobile robots; Robot sensing systems; Sonar detection; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.538224

Filename

538224