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Automatic navigation of mobile robots in unknown environments
Authors:Omid Motlagh  Danial Nakhaeinia  Sai Hong Tang  Babak Karasfi  Weria Khaksar
Affiliation:1. Department of Robotics and Automation, Faculty of Manufacturing Engineering, University Teknikal Malaysia Melaka (UTeM), 76100, Melaka, Malaysia
2. Department of Mechanical and Manufacturing, Faculty of Engineering, University Putra Malaysia (UPM), 43400, Serdang, Malaysia
Abstract:Online navigation with known target and unknown obstacles is an interesting problem in mobile robotics. This article presents a technique based on utilization of neural networks and reinforcement learning to enable a mobile robot to learn constructed environments on its own. The robot learns to generate efficient navigation rules automatically without initial settings of rules by experts. This is regarded as the main contribution of this work compared to traditional fuzzy models based on notion of artificial potential fields. The ability for generalization of rules has also been examined. The initial results qualitatively confirmed the efficiency of the model. More experiments showed at least 32 % of improvement in path planning from the first till the third path planning trial in a sample environment. Analysis of the results, limitations, and recommendations is included for future work.
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