Adaptive behavior navigation of a mobile robot

被引：43

作者：

Zalama, E ^{[1
]}

Gómez, J ^{[1
]}

Paul, M ^{[1
]}

Perán, JR ^{[1
]}

机构：

[1] Univ Valladolid, ETSII, Inst Tecnol Prod, Valladolid, Spain

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS | 2002年 / 32卷 / 01期

关键词：

adaptive behavior; learning control; mobile robots; neural networks; obstacle avoidance; robot navigation;

D O I：

10.1109/3468.995537

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes a neural network model for the reactive behavioral navigation of a mobile robot. From the information received through the sensors the robot can elicit one of several behaviors (e.g., stop, avoid, stroll, wall following), through a competitive neural network. The robot is able to develop a control strategy depending on sensor information and learning operation. Reinforcement learning improves the navigation of the robot by adapting the eligibility of the behaviors and determining the linear and angular robot velocities.

引用

页码：160 / 169

页数：10

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