Download Adaptive Navigation Control for Swarms of Autonomous Mobile by Nishimura, Yasuhiro; Lee, Geunho; Chong, Nak Young; Ji, Sang PDF

By Nishimura, Yasuhiro; Lee, Geunho; Chong, Nak Young; Ji, Sang Hoon; Cho, Young-Jo

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For any robot which is developed for elementary missions such as giving a guide in an indoor environment or delivering objects, a simple navigation system will be good enough. The robot for these tasks does not require any precise position or orientation identification. Instead, qualitative information regarding the robot posture during the navigation task that is sufficient to trigger further actions is needed. As it is not necessary for the robot to know the exact and absolute position, a topological navigation will be the most appropriate solution.

In this work, a stratum type of multilayer perceptron NN as shown in Fig. 8 is used as the computation tool. The 4 layers NN is used where the number of input layer depends on the number of combination data between colour features and shape features, and the unit number of each middle layer is depends on the number of input data. 1 Instructor data In order to let the robot in the proposed approach achieve a sufficiently cursory and stable recognition during the navigation, if the robot arrives in the proximity around the centre of the memorized node, the robot must be able to identify that it has reached the node.

IEEE Transaction on Pattern Analysis and Machine Intelligence, Vol. 10, No. 3, pp. 401-412, May 1988. ; Kuijpers, E. & Muller, H. (1987). A Model for Control Software and Sensor Algorithms for an Autonomous Mobile Robot. Encyclopedia of Intelligence Artificial, pp. 610-615, John Wiley and Sons, 1987. Waldron & Schmiedeler. ). Springer Handbook of Robotics. Heidelberg: Springer, 2008. Zelek, J. (1996). SPOTT: A Real-Time, Distributed and Scalable Architecture for Autonomous Mobile Robot Control.

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