Evolutionary algorithm based neural network controller optimization for autonomous mobile robot navigation

被引：0
|
作者：
Han, SJ [1 ]
Oh, SY [1 ]
机构：
[1] Pohang Univ Sci & Technol, Dept Elect Engn, POSTECH, Pohang 790784, South Korea
来源：
PROCEEDINGS OF THE 2001 CONGRESS ON EVOLUTIONARY COMPUTATION, VOLS 1 AND 2 | 2001年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A neural network based navigation algorithm is proposed here for mobile robots using ultrasonic sensors. The neural network has a dynamically reconfigurable structure which not only can optimize the weights but also the input sensory connectivity in order to meet any user-defined objective. Further, in order to enhance generalization capability of a single network, a modular network is used in which each network module is optimized for a specific local environment based on environment classification. Both computer simulation and real experiments show the effective performance of the algorithm.
引用
收藏
页码：121 / 127
页数：7
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