An Artificial Life Model Based on Neural Networks for Navigation of Multiple Autonomous Mobile Robots in the Dynamic Environment

동적 환경에서 자율 이동 로봇군의 이동을 위한 신경 회로망 기반 인공 생명 모델

The objective of this paper is, based upon the principles of artificial life, to induce emergent behaviors of multiple autonomous mobile robots which complex global intelligence form from simple local interactions. Here, we propose an architecture of neural network learning with reinforcement signals which perceives the neighborhood information and decides the direction and the velocity of movement as mobile robots navigate in a group. As the results of the simulations, the optimum weight is obtained in real time, which not only prevent the collisions between agents and obstacles in the dynamic environment, but also have the mobile robots move and keep in various patterns.