- 著者
-
上田 隆一
新井 民夫
- 出版者
- 日本ロボット学会
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.25, no.1, pp.103-112, 2007-01-15 (Released:2010-08-25)
- 参考文献数
- 25
- 被引用文献数
-
2
1
We propose the real-time Q-MDP value method for decision making of a robot under uncertain state recognition. When the computation result of a control problem is known on the assumption that recognition is certain, the original Q-MDP value method decides an appropriate action based on uncertain recognition. The method is not suitable for real-time decision making due to the complexity of probability calculation. In the real-time Q-MDP value method, a particle filter that is utilized for state estimation is directly used for the probability calculation. The proposed method can make it possible to execute the Q-MDP value method in real-time. The proposed method is applied to total behavior of a goalkeeper for robot soccer competition. Experiments and actual games have suggested that this method can decide actions effectively according as uncertain result of state estimation.