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Publiée le 08/04/11 à 16h12

Licence Creative Commons CC-By-NC

A biologically inspired navigation system for the mobile rat-like robot nicknamed Psikharpax is presented, allowing for self-localization and autonomous navigation in an initially unknown environment. Parts of the model (e.g. the strategy selection mechanism) have been validated before in simulation, but have now been adapted to a real robot platform.
This article presents our work on the implementation of two independent navigation strategies and a strategy selection mechanism. We show how our robot can learn to choose the optimal strategy in a given situation using a Q-learning algorithm.