Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Intelligent Robot Design: Intelligent Agent Based Approach

지능로봇: 지능 에이전트를 기초로 한 접근방법

  • 강진식 (제주대학교 공과대학 통신컴퓨터공학부)
  • Published : 2004.07.01
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Abstract

In this paper, a robot is considered as an agent, a structure of robot is presented which consisted by multi-subagents and they have diverse capacity such as perception, intelligence, action etc., required for robot. Also, subagents are consisted by micro-agent($\mu$agent) charged for elementary action required. The structure of robot control have two sub-agents, the one is behavior based reactive controller and action selection sub agent, and action selection sub-agent select a action based on the high label action and high performance, and which have a learning mechanism based on the reinforcement learning. For presented robot structure, it is easy to give intelligence to each element of action and a new approach of multi robot control. Presented robot is simulated for two goals: chaotic exploration and obstacle avoidance, and fabricated by using 8bit microcontroller, and experimented.

본 논문에서는 로봇을 하나의 에이전트로 보고 로봇에 필요한 기능-환경인지, 지능, 행동-등을 부-에이전트로 하는 로봇 구조를 제안하였다. 각각의 부 에이전트들은 로봇 기능의 기초단위를 구성하는 마이크로 에이전트로 구성된다. 로봇의 제어 구조는 행위기반 반사행동 제어 형태와 행동 선택 에이전트로 구성되며, 행동 선택 에이전트에서의 행동 선택은 행동 우선순위, 수행성능, 강화학습에 의한 학습기능을 부가하였다. 제시된 로봇 구조는 다중 부-에이전트 구조로 각각의 기능에 대하여 지능을 부여하기 쉬우며 다중 로봇 제어를 위한 새로운 접근 방법이다. 제시된 로봇을 장애물을 회피와 chaotic한 탐색을 목표로 하여 모의실험을 수행하였으며 8bit 마이크로 콘트롤러를 이용하여 제작 실험하였다.

Keywords

References

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