Modified SOM based intelligent semi-autonomous navigation system

11th Symposium on Neural Network Applications in Electrical Engineering Pub Date : 2012-09-01 DOI:10.1109/NEUREL.2012.6419954

Sammer-Ul Hassan, Bilal Ahmed, Bilal Shaukat, Habib ur Rehman Paracha, U. Malik, Saad Qaiser, Nabeel Anwar, Y. Ayaz

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引用次数: 3

Abstract

The fundamental problem in today's world when robots are becoming a part of daily routine is getting them to move from one desired place to another without any problem and collision. In doing so a robot needs to perceive its environment to efficiently navigate through it. The navigation is possible only if the robot differentiates between different scenarios around it in real time. In this paper we present a semi-autonomous navigation strategy designed for low throughput interfaces. The task is to minimize the user input by intelligently interpreting and executing the commands. Analyzing the environment in real time, the robot selects the most probable action using collision free steering techniques which employ the Self Organizing Map in cooperation with Artificial Potential Field, in which both the user and an intelligent robot co-exist. The performance of the proposed navigation algorithm is confirmed with computer simulations and experiments using the Pioneer 3-AT mobile robot.

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改进的基于SOM的智能半自主导航系统

当今世界，当机器人逐渐成为日常生活的一部分时，最根本的问题是如何让它们从一个理想的地方移动到另一个理想的地方，而不会出现任何问题和碰撞。要做到这一点，机器人需要感知周围的环境，以便有效地在其中导航。只有当机器人实时区分周围不同的场景时，导航才有可能实现。本文提出了一种针对低吞吐量接口设计的半自主导航策略。任务是通过智能地解释和执行命令来最小化用户输入。机器人在实时分析环境的基础上，采用自组织映射与人工势场相结合的无碰撞转向技术，选择用户与智能机器人共存的最可能动作。通过计算机仿真和先锋3-AT移动机器人的实验，验证了所提出的导航算法的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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11th Symposium on Neural Network Applications in Electrical Engineering

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