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
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;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.565422
