Research on Creating Environment Model for Mobile Robot Using Improved ART-2 Neural Network

Author

Wang, Ting ; Wang, Yuechao

Author_Institution

Robotics Lab., Shenyang Inst. of Autom.

fYear

2004

fDate

22-26 Aug. 2004

Firstpage

785

Lastpage

789

Abstract

This paper used improved ART-2 network to help robot identify environment model. In application of ART-2 neural network, it is found that there is a characteristic of pattern drifting when processing the gradually-change single-direction patterns, in one hand robot depends on the characteristic when moving in static environment, on the other hand the characteristic may threaten the safety of robot when moving in dynamic environment. To solve the problem, an improved ART-2 neural network is brought forward which makes the robot suitable for the application in static environment as well as in dynamic environment safely. The approach is implemented and tested on CLIMBER robot

Keywords

ART neural nets; mobile robots; robot dynamics; ART-2 neural network; CLIMBER robot; dynamic environment; mobile robot; pattern drifting; static environment; Algorithm design and analysis; Infrared sensors; Intelligent sensors; Mobile robots; Neural networks; Resonance; Robot sensing systems; Robotics and automation; Safety; Testing; ART-2; alternative weights; environment model; pattern drifting;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

0-7803-8614-8

Type

conf

DOI

10.1109/ROBIO.2004.1521882

Filename

1521882