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Mobile robot motion planner via neural network

SYSNO ASEP	0359501
Document Type	C - Proceedings Paper (int. conf.)
R&D Document Type	Conference Paper
Title	Mobile robot motion planner via neural network
Author(s)	Krejsa, Jiří (UT-L)_{RID, ORCID} Věchet, Stanislav (UT-L)_{RID, ORCID}
Source Title	Engineering Mechanics 2011. - Prague : Institute of Thermomechanics AS CR, v. v. i., 2011 / Fuis V. - ISBN 978-80-87012-33-8
Pages	s. 327-330
Number of pages	4 s.
Action	Engineering Mechanics 2011 /17./
Event date	09.05.2011-12.05.2011
VEvent location	Svratka
Country	CZ - Czech Republic
Event type	EUR
Language	eng - English
Country	CZ - Czech Republic
Keywords	mobile robot ; motion planning ; neural network
Subject RIV	JD - Computer Applications, Robotics
CEZ	AV0Z20760514 - UT-L (2005-2011)
UT WOS	000313492700075
Annotation	Motion planning is essential for mobile robot successful navigation. There are many algorithms for motion planning under various constraints. However, in some cases the human can still do a better job, therefore it would be advantageous to create a planner based on data gathered from the robot simulation when humans do the planning. The paper presents the method of using the neural network to transfer the previously gained knowledge into the machine learning based planner. In particular the neural network task is to mimic the planner based on finite state machine. The tests proved that neural network can successfully learn to navigate in constrained environment.
Workplace	Institute of Thermomechanics
Contact	Marie Kajprová, kajprova@it.cas.cz, Tel.: 266 053 154 ; Jana Lahovská, jaja@it.cas.cz, Tel.: 266 053 823
Year of Publishing	2012

Number of the records: 1