A behavior network and its learning rule are proposed for the learning of a following behavior as the first step to realize a cooperation of two mobile robots without explicit communication. The motion of the robot is decomposed into 8 behavior elements and 1 speed element, and the proposed behavior network is a simple one-layered network. First, only the speed element learns, and then 8 behavior elements learns in the behavior network. The simulation results show a successful learning of the following behavior.
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