Self-organizing controller for a mobile robot
This paper describes a self-organising controller for a mobile robot. Equipped with a controller based on the self-organising map, a mobile robot can combine its sensory information without any outside assistanceto obtain a representation that is directly applicable for navigation and obstacle avoidance. The feasibility of the proposed self-organising control system is tested with a Nomad mobile robot simulator. The experiments demonstrate that the control system learns quickly to select suitable actions for sensory situations, adapts easily to new environments, and collides less and less frequently while navigating.
Bibliographic Reference: Paper presented: International Conference on Engineering Applications of Neural Networks, Espoo (FI), August 21-23, 1995
Availability: Available from (1) as Paper EN 39237 ORA
Record Number: 199511235 / Last updated on: 1995-10-13
Original language: en
Available languages: en