Recognizing environments from action sequences using a self-organizing map

摘要

In this paper, we describe development of a mobile robot which does unsupervised learning for recognizing environments from action sequences. Most studies on recognizing an environment have tried to build precise geometric maps with high sensitive and global sensors. However such precise and global information may not be obtained in real environments. Furthermore unsupervised-learning is necessary for recognition in unknown environments without help of a teacher. Thus we attempt to build a mobilerobot which does unsupervised learning to recognize environments with low sensitive and local sensors. The mobile robot is behavior-based and does wall-following in enclosures. Then the sequences of actions executed in each enclosure are transformed intoinput vectors for a self-organizing map. Learning without a teacher is done and the robot becomes able to identify enclosures. Moreover we developed a method to identify environments independent of a start point rising a partial sequence. We have fullyimplemented the system with a real mobile robot, and made experiments for evaluating the ability. As a result, we found out that the environment recognition was done well and our method was adaptive to noisy environments.