Behavioural cloning in control of a dynamic system

Abstract

Navigation is one of the standard tasks in the mobile robot domain. In order for a mobile robot to accomplish a non-trivial task, the task should be described in terms of primitive actions of the robot's actuators. The complete navigation problem can be broken down into related sub-tasks, which is referred to as "behaviours" in this paper. the authors have used a locally designed mobile robot in an experiment in order to acquire a primitive behaviour, object avoidance. Two different algorithms have been used for comparison purpose. This paper discusses the results of this comparison.