Behaviors Coordination and Learning on Autonomous Navigation of Physical Robot

Behaviors coordination is one of keypoints in behavior based robotics. Subsumption architecture
and motor schema are example of their methods. In order to study their characteristics, experiments in
physical robot are needed to be done. It can be concluded from experiment result that the first method
gives quick, robust but non smooth response. Meanwhile the latter gives slower but smoother response
and it is tending to reach target faster. Learning behavior improve robot’s performance in handling
uncertainty. Q learning is popular reinforcement learning method that has been used in robot learning
because it is simple, convergent and off policy. The learning rate of Q affects robot’s performance in
learning phase. Q learning algorithm is implemented in subsumption architecture of physical robot. As the
result, robot succeeds to do autonomous navigation task although it has some limitations in relation with
sensor placement and characteristic.