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

页码：4350 / +

页数：3

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