A hierarchical self-organizing controller for navigation of mobile robots

被引：0
|
作者：
Calvo, Rodrigo [1 ]
Romero, Roseli Ap Francelin [1 ]
机构：
[1] Univ Sao Paulo, ICMC SCE, BR-13560970 Sao Carlos, Brazil
来源：
2006 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORK PROCEEDINGS, VOLS 1-10 | 2006年
基金：
巴西圣保罗研究基金会;
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this work an autonomous navigation system based in a modular neuro-fuzzy network for controlling mobile robots is proposed. Based on this system the robot is able to reach goals avoiding collisions against obstacles in an unknown environment. The system architecture belongs to the reactive paradigm. A reinforcement learning mechanism balanced with two innate behaviors, which are to avoid obstacles and seek to goals, guides the robot from an initial point to the goal. The validation of the proposal system has been done by using the Saphira simulator. The results obtained in the tests performed on Saphira simulator and on the Pioneer robot show the efficiency and learning capabilities of this system.
引用
收藏
页码：4350 / +
页数：3
相关论文
共 50 条
  • [1] Self-Organizing Brain Emotional Learning Controller Network for Intelligent Control System of Mobile Robots
    Wu, Qiuxia
    Lin, Chih-Min
    Fang, Wubing
    Chao, Fei
    Yang, Longzhi
    Shang, Changjing
    Zhou, Changle
    IEEE ACCESS, 2018, 6 : 59096 - 59108
  • [2] Self-organizing Mobile Robots Swarm Movement Control Simulation
    Larkin, E., V
    Akimenko, T. A.
    Bogomolov, A., V
    ADVANCES IN SWARM INTELLIGENCE, ICSI 2022, PT II, 2022, : 56 - 65
  • [3] Self-organizing system for the motion planning of mobile robots.
    Keymeulen, D
    Decuyper, J
    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 3369 - 3374
  • [4] The future of self-organizing robots
    Murata, Satoshi
    Kurokawa, Haruhisa
    Springer Tracts in Advanced Robotics, 2012, 77 (STAR): : 235 - 246
  • [5] THE SELF-ORGANIZING ADAPTIVE CONTROLLER
    Minatohara, Tetsuya
    Furukawa, Tetsuo
    INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2011, 7 (04): : 1933 - 1947
  • [6] HIERARCHICAL SELF-ORGANIZING NETWORKS
    LUTTRELL, SP
    FIRST IEE INTERNATIONAL CONFERENCE ON ARTIFICIAL NEURAL NETWORKS, 1989, : 2 - 6
  • [7] Evolving Modularity in Soft Robots Through an Embodied and Self-Organizing Neural Controller
    Pigozzi, Federico
    Medvet, Eric
    ARTIFICIAL LIFE, 2022, 28 (03) : 322 - 347
  • [8] Collective sensing with self-organizing robots
    Bishop, Joshua
    Klavins, Eric
    PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2006, : 4175 - 4181
  • [9] Robots on self-organizing knowledge networks
    Chong, NY
    Hongu, H
    Miyazaki, M
    Takemura, K
    Ohara, K
    Ohba, K
    Hirai, S
    Tanie, K
    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 3494 - 3499
  • [10] A design of fuzzy self-organizing controller
    Hwang, CJ
    Yen, TT
    FUZZ-IEEE '96 - PROCEEDINGS OF THE FIFTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, 1996, : 1567 - 1572
12345