High speed neural control for robot navigation

High speed neural control for robot navigation

This paper addresses the real time control of the Khepera mobile robot navigation in a maze with reflector walls. Boolean neural networks such as RAM and GSN models are applied to drive the vehicle, following a light source, while avoiding obstacles. Both neural networks are implemented with simple...

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Hauptverfasser: Botelho, S.S.C., do Valle Simoes, E., Uebel, L.F., Barone, D.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Arithmetic
Control systems
Fuzzy logic
Mobile robots
Navigation
Neural networks
Neurons
Robot control
Wheels
Working environment noise
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Beschreibung
Zusammenfassung:This paper addresses the real time control of the Khepera mobile robot navigation in a maze with reflector walls. Boolean neural networks such as RAM and GSN models are applied to drive the vehicle, following a light source, while avoiding obstacles. Both neural networks are implemented with simple logic and arithmetic functions (NOT, AND, OR, Addition, and Comparison), aiming to improve the system speed. The results obtained are compared with two other control strategies: multilayer perceptron and fuzzy logic.
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.1996.565422