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

Volume

1

fYear

2005

fDate

10-12 Oct. 2005

Firstpage

430

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2005 IEEE International Conference on

Print_ISBN

0-7803-9298-1

Type

conf

DOI

10.1109/ICSMC.2005.1571184

Filename

1571184