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Intelligent autonomous navigation for mobile robots: Spatial concept acquisition and object discrimination
Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
Department of Computer Science, State University of Maringá, 87020-900, Maringá - PR, Brazil.
Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
Department of Computer Science and Statistics, University of São Paulo, São Carlos, Brazil.
2005 (engelsk)Inngår i: 2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Proceedings, New York: IEEE Press, 2005, s. 553-557Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

An autonomous system able to construct its own navigation strategy for mobile robots is proposed. The navigation strategy is molded from navigation experiences (succeeding as the robot navigates) according to a classical reinforcement learning procedure. The autonomous system is based on modular hierarchical neural networks. Initially the navigation performance is poor (many collisions occur). Computer simulations show that after a period of learning the autonomous system generates efficient obstacle avoidance and target seeking behaviors. Experiments also offer support for concluding that the autonomous system develops a variety of object discrimination capability and of spatial concepts.

sted, utgiver, år, opplag, sider
New York: IEEE Press, 2005. s. 553-557
Emneord [en]
intelligent autonomous navigation, neural networks, reinforcement learning, mobile robots, biologically inspired models
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-18729DOI: 10.1109/CIRA.2005.1554335ISI: 000231588200092Scopus ID: 2-s2.0-28444452560ISBN: 0-7803-9355-4 OAI: oai:DiVA.org:hh-18729DiVA, id: diva2:560888
Konferanse
2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2005, Espoo, Finland, 27-30 June 2005
Merknad

Category number 05EX1153; Code 66105

Tilgjengelig fra: 2012-10-16 Laget: 2012-06-25 Sist oppdatert: 2018-03-22bibliografisk kontrollert

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