engleski

Behavior Based Mobile Robot ina Automatic Assembly

This work deals with the developement of the autonomous mobile robot using behavioral based control approach. The hypothesis is that intelligence, as something that assumes understanding, creativity and self-improving should rely on the learning ability. Planing of intelligent robot behavior adresses three main issues: finding task solutions in unknown situations, learning from expirience and recognizing the similarity of problems paradigms. The presented behavior based model integrates perception, recognition, problem solving and learning capabilities. The reinforcement learning method is used here to evaluate robot behavior and to induce new, or to improve existing knowledge. The acquired action (task) is stored as expirience which can be used in solving similar future problems. To provide the recognition of problem similarities, the Adaptive Fuzzy Shadowed (AFS) neural network is applied. This behavior based approach to the robot intelligence is simulated on the mobile robot model and veryfied on the Pioneer 2DX, the real mobile robot, using primarily the sonar perception of working environment to manage its performance in unknown surroundings for given task.

artificial intelligence; assembly; mobile robot

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