Incremental supervised learning for mobile robot reactive control |
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Authors: | Patrick Reignier Volker Hansen James L Crowley |
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Affiliation: | LIFIA - IMAG, 46 avenue Félix Viallet, 38031, Grenoble Cedex, France |
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Abstract: | Reactive control for a mobile robot can be defined as a mapping from a perceptual space to a command space. This mapping can be hard-coded by the user (potential fields, fuzzy logic), and can also be learnt. This paper is concerned with supervised learning for perception to action mapping for a mobile robot. Among the existing neural approaches for supervised learning of a function, we have selected the grow and learn network for its properties adapted to robotic problems: incrementality and flexible structure. We will present the results we have obtained with this network using first raw sensor data and then pre-processed measures with the automatic construction of virtual sensors. |
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