Detail publikace

Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment

KREJSA, J. VĚCHET, S. RIPEL, T.

Originální název

Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment

Typ

článek v časopise - ostatní, Jost

Jazyk

angličtina

Originální abstrakt

When mobile robots are used among people, the best accepted motion related behavior is a human-like motion of the robot. Such behavior is difficult to obtain with commonly used finite state machine based planners, but can easily be evoked when human controls the robot. The paper presents the way of transforming such knowledge from human controller to reactive planner in the robot navigation module. Reactive planner is based on machine learning, neural networks in particular. The planner consists of two separate neural networks, one serving as predictor of dynamic obstacles behavior, second one serving as the reactive planner itself, producing desirable actions of the robot both in terms of velocity and direction. Planner was verified on real robot producing human-like behavior when used in real environment.

Klíčová slova

mobile robot, reactive navigation, artificial neural networks

Autoři

KREJSA, J.; VĚCHET, S.; RIPEL, T.

Rok RIV

2013

Vydáno

1. 1. 2013

ISSN

1012-0394

Periodikum

Solid State Phenomena

Ročník

2013

Číslo

198

Stát

Švýcarská konfederace

Strany od

108

Strany do

113

Strany počet

6

BibTex

@article{BUT103888,
  author="Jiří {Krejsa} and Stanislav {Věchet} and Tomáš {Ripel}",
  title="Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment",
  journal="Solid State Phenomena",
  year="2013",
  volume="2013",
  number="198",
  pages="108--113",
  issn="1012-0394"
}