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

Volume

5

fYear

1995

fDate

20-24 Mar 1995

Firstpage

91

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/FUZZY.1995.410050

Filename

410050