Title :
Adaptive behavior navigation of a mobile robot
Author :
Zalama, Eduardo ; Gómez, Jaime ; Paul, Mariano ; Perán, José Ramón
Author_Institution :
Instituto de las Tecnologias de la Produccion, Valladolid Univ., Spain
fDate :
1/1/2002 12:00:00 AM
Abstract :
Describes a neural network model for the reactive behavioral navigation of a mobile robot. From the information received through the sensors the robot can elicit one of several behaviors (e.g., stop, avoid, stroll, wall following), through a competitive neural network. The robot is able to develop a control strategy depending on sensor information and learning operation. Reinforcement learning improves the navigation of the robot by adapting the eligibility of the behaviors and determining the linear and angular robot velocities
Keywords :
mobile robots; neurocontrollers; path planning; recurrent neural nets; sensor fusion; unsupervised learning; adaptive behavior navigation; angular velocities; competitive neural network; control strategy; learning control; learning operation; linear velocities; mobile robot; neural network model; obstacle avoidance; reactive behavioral navigation; reinforcement learning; sensor information; Control systems; Humans; Infrared sensors; Learning; Mobile robots; Navigation; Neural networks; Psychology; Robot control; Robot sensing systems;
Journal_Title :
Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on
DOI :
10.1109/3468.995537
