Title :
Using neural networks to model the open environment for mobile robot navigation
Author :
Najand, Shahriar ; Lo, Zhen-Ping ; Bavarian, Behnam
Author_Institution :
Dept. of Electr. & Comput. Eng., California Univ., Irvine, CA, USA
Abstract :
The application of the Kohonen self-organizing topology preserving neural network for learning and developing a minimal representation for the open environment for mobile robot navigation is presented. The input to the algorithm is the coordinates of randomly selected points in the open environment. No specific knowledge of the size, number, and shape of the obstacles is needed by the network. The parameter selection for the network is discussed and two illustrative examples are presented
Keywords :
computerised navigation; learning systems; mobile robots; neural nets; Kohonen self-organizing topology preserving neural network; learning system; mobile robot; navigation; obstacle avoidance; open environment model; parameter selection; Application software; Computer networks; Mobile robots; Navigation; Network topology; Neural networks; Neurons; Robot kinematics; Robot sensing systems; Shape;
Conference_Titel :
Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on
Conference_Location :
Charlottesville, VA
Print_ISBN :
0-7803-0233-8
DOI :
10.1109/ICSMC.1991.169795
