Training of a leaning agent for navigation--inspired by brain-machine interface.
The design clue for the remote control of a mobile robot is inspired by the Talwar's brain-machine interface technology for remotely training and controlling rats. Our biologically inspired autonomous robot control consciousness-based architecture (CBA) is used for the remote control of a robot as a substitute for a rat. CBA is a developmental hierarchy model of the relationship between consciousness and behavior, including a training algorithm. This training algorithm computes a shortcut path to a goal using a cognitive map created based on behavior obstructions during a single successful trial. However, failures in reaching the goal due to errors of the vision and dead reckoning sensors require human intervention to improve autonomous navigation. A human operator remotely intervenes in autonomous behaviors in two ways: low-level intervention in reflexive actions and high-level ones in the cognitive map. Experiments are conducted to test CBA functions for intervention with a joystick for a Khepera robot navigating from the center of a square obstacle with an open side toward a goal. Their statistical results show that both human interventions, especially high-level ones, are effective in drastically improving the success rate of autonomous detours.
Kitamura
Tadashi
T
Department of Mechanical System Engineering, Kyushu Institute of Technology, Fukuoka 820 8502, Japan.
Nishino
Daisuke
D
D000465:Algorithms; D000818:Animals; D032701:Biomimetics / Q000379:methods; D001921:Brain / Q000502:physiology*; D003491:Cybernetics / Q000379:methods*; D005103:Expert Systems; D006801:Humans; D007090:Image Interpretation, Computer-Assisted / Q000379:methods; D008328:Man-Machine Systems; D051381:Rats; D012371:Robotics; D014584:User-Computer Interface