Title :
Mobile robot navigation in an unknown environment
Author :
Jazayeri, A. ; Fatehi, A. ; Taghirad, H.
Author_Institution :
Fac. of Electr. Eng., K.N. Toosi Univ. of Technol., Tehran
Abstract :
This paper discusses application of an intelligent system in order to navigate in real-time a small size, four wheeled, indoor mobile robot accurately using ultra-light (160 gr), inexpensive laser range finder without prior information of the environment. A recurrent neural network is used to find the best path to the target of the robot. An accurate grid-based map is generated using a laser range finder scene and location found by a modified dead reckoning system. Finally a motion control method is presented. These approaches are implemented and tested in Resquake mobile robot
Keywords :
mobile robots; motion control; neurocontrollers; path planning; 160 g; Resquake mobile robot; grid-based map; intelligent system; laser range finder; mobile robot navigation; modified dead reckoning system; motion control method; recurrent neural network; Dead reckoning; Intelligent robots; Intelligent systems; Layout; Mesh generation; Mobile robots; Motion control; Navigation; Real time systems; Recurrent neural networks;
Conference_Titel :
Advanced Motion Control, 2006. 9th IEEE International Workshop on
Conference_Location :
Istanbul
Print_ISBN :
0-7803-9511-1
DOI :
10.1109/AMC.2006.1631674
