Title :
A human-robot mentor-protege relationship to learn off-road navigation behavior
Author :
Howard, Ayanna M. ; Werger, Barry ; Seraji, Homayoun
Author_Institution :
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
In this paper, we present an approach to transfer human expertise for learning off-road navigation behavior to an autonomous mobile robot. The methodology uses the concept of humanized intelligence to combine principal component analysis and neural network learning to embed human driving expertise onto mobile robots. The algorithms are tested in the field using a commercial Pioneer 2AT robot to demonstrate autonomous traversal over rough natural terrain.
Keywords :
learning (artificial intelligence); mobile robots; navigation; neural nets; principal component analysis; Pioneer 2AT robot; autonomous mobile robot; human driving expertise; human-robot interaction; human-robot mentor-protege relationship; humanized intelligence; neural network; off-road navigation behavior; principal component analysis; robot navigation; rough natural terrain; Aircraft navigation; Humans; Intelligent robots; Mobile robots; Neural networks; Roads; Rough surfaces; Sonar navigation; Surface roughness; Vehicle driving; human-robot interaction; humanized intelligence; neural networks; robot navigation;
Conference_Titel :
Systems, Man and Cybernetics, 2005 IEEE International Conference on
Print_ISBN :
0-7803-9298-1
DOI :
10.1109/ICSMC.2005.1571184
