DocumentCode
305387
Title
High speed neural control for robot navigation
Author
Botelho, Sílvia S C ; do Valle Simoes, E. ; Uebel, Luiís Felipe ; Barone, Dante
Author_Institution
Inst. de Inf., Univ. Federal do Rio Grande do Sul, Porto Alegre, Brazil
Volume
3
fYear
1996
fDate
14-17 Oct 1996
Firstpage
1956
Abstract
This paper addresses the real time control of the Khepera mobile robot navigation in a maze with reflector walls. Boolean neural networks such as RAM and GSN models are applied to drive the vehicle, following a light source, while avoiding obstacles. Both neural networks are implemented with simple logic and arithmetic functions (NOT, AND, OR, Addition, and Comparison), aiming to improve the system speed. The results obtained are compared with two other control strategies: multilayer perceptron and fuzzy logic
Keywords
Boolean functions; intelligent control; mobile robots; navigation; neurocontrollers; path planning; Boolean neural networks; Khepera mobile robot; light source following; logic functions; maze; neural control; obstacle avoidance; robot navigation; rule based control; Arithmetic; Control systems; Fuzzy logic; Mobile robots; Navigation; Neural networks; Neurons; Robot control; Wheels; Working environment noise;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location
Beijing
ISSN
1062-922X
Print_ISBN
0-7803-3280-6
Type
conf
DOI
10.1109/ICSMC.1996.565422
Filename
565422
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