Title :
Robots moving in formation by using neural network and radial basis functions
Author :
Hirota, Kaoru ; Kuwabara, Tsuyoshi ; Ishida, Kenichi ; Miyanohara, Akihiko ; Ohdachi, Hiroaki ; Ohsawa, Toshihiro ; Takeuchi, Wataru ; YUBAZAKI, Naoyoshi ; Ohtani, Masayuki
Author_Institution :
Dept. of Syst. Control Eng., Hosei Univ., Tokyo, Japan
Abstract :
Vision-based moving in formation by four mobile robots is presented. One robot who is a leader and goes first provides moving plans to the other robots who follow the leading robot. These robots move not only in a single line, but also triangular or diamond formation. Each robot detects the other robots by means of color image classification using a three-layer neural network. In motion control, a radial basis function (RBF) network approximated by learning is used. In addition, hardware implementations and the results of a demonstration of how multiple mobile robots move in several formations are described
Keywords :
cooperative systems; feedforward neural nets; image classification; image colour analysis; learning (artificial intelligence); mobile robots; multilayer perceptrons; robot vision; color image classification; diamond formation; mobile robots; motion control; neural network; radial basis functions; single line; three-layer neural network; triangular formation; vision-based moving in formation; Cameras; Charge coupled devices; Charge-coupled image sensors; Intelligent networks; Mobile robots; Motion control; Neural networks; Orbital robotics; Robot sensing systems; Robot vision systems;
Conference_Titel :
Fuzzy Systems, 1995. International Joint Conference of the Fourth IEEE International Conference on Fuzzy Systems and The Second International Fuzzy Engineering Symposium., Proceedings of 1995 IEEE Int
Conference_Location :
Yokohama
Print_ISBN :
0-7803-2461-7
DOI :
10.1109/FUZZY.1995.410050
