Narzędzia help

Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
first previous next last
cannonical link button

http://yadda.icm.edu.pl:80/baztech/element/bwmeta1.element.baztech-article-BPG5-0005-0036

Czasopismo

Bulletin of the Polish Academy of Sciences. Technical Sciences

Tytuł artykułu

Collision free path planning and control of wheeled mobile robot using Kohonen self-organising map

Autorzy Hendzel, Z. 
Treść / Zawartość http://bulletin.pan.pl/ http://journals.pan.pl/dlibra/journal/95347 http://www.degruyter.com/view/j/bpasts
Warianty tytułu
Języki publikacji EN
Abstrakty
EN In this paper we propose a sensor-based navigation method for navigation of wheeled mobile robot, based on the Kohonen self-organising map (SOM). We discuss a sensor-based approach to path design and control of wheeled mobile robot in an unknown 2-D environment with static obstacles. A strategy of reactive navigation is developed including two main behaviours: a reaching the middle of a collision-free space behaviour, and a goal-seeking behaviour. Each low-level behaviour has been designed at design stage and then fused to determine a proper actions acting on the environment at running stage. The combiner can fuse low-level behaviours so that the mobile robot can go for the goal position without colliding with obstacles one for the convex obstacles and one for the concave ones. The combiner is a softswitch, based on the idea of artificial potential fields, that chooses more then one action to be active with different degrees at each time step. The output of the navigation level is fed into a neural tracking controller that takes into account the dynamics of the mobile robot. The purpose of the neural controller is to generate the commands for the servo-systems of the robot so it may choose its way to its goal autonomously, while reacting in real-time to unexpected events. Computer simulation has been conducted to illustrate the performance of the proposed solution by a series of experiments on the emulator of wheeled mobile robot Pioneer-2DX.
Słowa kluczowe
EN wheeled mobile robot   path planning   Kohonen self-organising map   behaviour control   tracking control  
Wydawca Polska Akademia Nauk, Wydział IV Nauk Technicznych
Czasopismo Bulletin of the Polish Academy of Sciences. Technical Sciences
Rocznik 2005
Tom Vol. 53, nr 1
Strony 39--47
Opis fizyczny Bibliogr. 18 poz., 10 rys.
Twórcy
autor Hendzel, Z.
  • Department of Applied Mechanics and Robotics, Rzeszow University of Technology 8 Powstancow Warszawy St., 35-959 Rzeszow, Poland, zenhen@prz.rzeszow.pl
Bibliografia
[1] R.C. Arkin, Behaviour-Based Robotics, The MIT Press, 1998.
[2] M. Benreguieg, H. Maaref and C. Barret, \ Navigation of an autonomus mobile robot by coordination of behaviours", Proceedings of 3rd IFAC Symposium on Intelligent Autonomous Vehicles, Madrid, Spain, 589{594 (1998).
[3] J. Berenstain and J. Koren, \Real time obstacle avoid-ance for fast mobile robots", IEEE Transaction on Systems, Man, and Cybernetics 19(5), 1179{1186 (1989).
[4] D. Driankov and A. Sa±otti, ed., Fuzzy Logic Techniques for Autonomous Vehicle Navigation, Springer-Verlag, 2001.
[5] O. Khatib, \Real-time obstacle avoidance for manipulators and mobile robots", The International Journal of Robotics Research 5(1), (1986).
[6] J.C. Latombe, Robot Motion Planning, Kluwer Academic Publishers, 1991.
[7] A.M.S. Zalzala and A.S. Morris, Neural Networks for Robotic Control, Ellis Horwood, 1996.
[8] T. Kohonen, \Self-organising maps", vol. 30, Springer Series, in: Information Sciences, Springer, Berlin, Heidelberg, 1995.
[9] K.H. Low, W.K. Leow and M.H. Ang Jr., \Integrated planning and control of mobile robot with self-organising neural network", in: Proceedings of IEEE International Conference on Robotics and Automation 4, 3870-3875 (2002).
[10] J.R. Millan, \Reinforcement learning of goal-directed obstacle-avoiding reaction strategies in an autonomous mobile robot", Robotics and Autonomous Systems 15(3), 275-299 (1995).
[11] L.M. Gambardella and C. Versino, \Learning high-level navigation strategies from sensor information and planner experience", Proc. PerAc94, From Perception to Action Conference, Lausanne, Switzerland, September 7{9, 428-431 (1994).
[12] Z. Hendzel, \Neural network reactive navigation and control of wheeled mobile robot", Advances in Soft Computing, eds., Rutkowski, Kacprzyk,Phisica-Verlag, 686{691(2003).
[13] Z. Hendzel, \Fuzzy reactive control of wheeled mobile robot", J. Theor. Appl. Mech. 42(3) 503{517 (2004).
[14] Z. Hendzel, \Fuzzy combinier of behaviours for reactive control of wheeled mobile robot", (Eds.), L. Rutkowski et al., in: Articial Intelligence and Soft Computing, Springer-Verlag Berlin Heidelberg, 774{779 (2004).
[15] M. Giergiel, Z. Hendzel and W. Z_ ylski, Modelling and Control of Wheeled Mobile Robots, WNT, Warsaw, 2002, (in Polish).
[16] F.L. Levis, K. Liu and A. Yesildirek, \Neural net robot controller with guaranteed tracking performance", IEEE Transaction on Neural Networks 6(3) 703{715 (1995).
[17] J.J. Slotine and W. Li, Applied Non-linear Control, Prentice Hall, New Jersey, 1991.
[18] H. Ritter and K. Schulten, \Extending Kohonen's Self-Organising Mapping Algorithm to Learn Ballistic Movements", (eds.) R. Eck-miller and E. von der Marlsburg, Neural Computers, Springer, Heidelberg, 1987.
Kolekcja BazTech
Identyfikator YADDA bwmeta1.element.baztech-article-BPG5-0005-0036
Identyfikatory