Publication result detail

MOBILE ROBOT MOTION PLANNER VIA NEURAL NETWORK

KREJSA, J.; VĚCHET, S.

Original Title

MOBILE ROBOT MOTION PLANNER VIA NEURAL NETWORK

English Title

MOBILE ROBOT MOTION PLANNER VIA NEURAL NETWORK

Type

Paper in proceedings (conference paper)

Original Abstract

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.

English abstract

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.

Keywords

Mobile robot; motion planning; neural networks

Key words in English

Mobile robot; motion planning; neural networks

Authors

KREJSA, J.; VĚCHET, S.

RIV year

2013

Released

09.05.2011

Publisher

Institute of Thermomechanics, Academy of Sciences of the Czech Republic

Location

Prague

ISBN

978-80-87012-33-8

Book

Engineering Mechanics 2011, 17th International conference may 9-12, 2011, Svratka, Czech republic

Edition

2011

Pages from

227

Pages to

230

Pages count

4

BibTex

@inproceedings{BUT98286,
  author="Jiří {Krejsa} and Stanislav {Věchet}",
  title="MOBILE ROBOT MOTION PLANNER VIA NEURAL NETWORK",
  booktitle="Engineering Mechanics 2011, 17th International conference may 9-12, 2011, Svratka, Czech republic",
  year="2011",
  series="2011",
  number="1",
  pages="227--230",
  publisher="Institute of Thermomechanics, Academy of Sciences of the Czech Republic",
  address="Prague",
  isbn="978-80-87012-33-8"
}