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http://dx.doi.org/10.5391/JKIIS.2002.12.1.019

A Rule-based Integration of Neural Network Modules based on Cellular Automata for Sensory-Motor Controller  

Kim, Kyung-Joong (연세대학교 검퓨터과학과)
Song, Geum-Beom (연세대학교 검퓨터과학과)
Cho, Sung-Bae (연세대학교 검퓨터과학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.12, no.1, 2002 , pp. 19-26 More about this Journal
Abstract
There are some difficulties to construct a sensory-motor controller for an autonomous mobile robot such as coordinating the mechanics and control system parts of the robot, and managing interaction with external environments. In previous research, we evolve the CAM-Brain, neural networks based on cellular automata, to control an autonomous mobile robot. In this paper, we propose the method of combining multi-modules evolved to do simple behavior in order to making more sophisticated behaviors because the controller composed of one neural network module is difficult to make complex behaviors. In experimental results, we can get the controller adapting to more complex environments by combining CAM-Brain modules evolved to do simple behavior by rule-based approach.
Keywords
이동로봇 제어;셀룰라 오토마타;행동결합;신경망;행동기반 인공지능;
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