Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F13%3APU106668" target="_blank" >RIV/00216305:26210/13:PU106668 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/61388998:_____/13:00421678

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment

Popis výsledku v původním jazyce

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 twoseparate 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.

Název v anglickém jazyce

Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment

Popis výsledku anglicky

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 twoseparate 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.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

—

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Solid State Phenomena

ISSN

1012-0394

e-ISSN

—

Svazek periodika

2013

Číslo periodika v rámci svazku

198

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

6

Strana od-do

108-113

Kód UT WoS článku

—

EID výsledku v databázi Scopus

—