Detail publikačního výsledku

MOBILE ROBOT MOTION PLANNER VIA NEURAL NETWORK

KREJSA, J.; VĚCHET, S.

Originální název

MOBILE ROBOT MOTION PLANNER VIA NEURAL NETWORK

Anglický název

MOBILE ROBOT MOTION PLANNER VIA NEURAL NETWORK

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

Mobile robot; motion planning; neural networks

Klíčová slova v angličtině

Mobile robot; motion planning; neural networks

Autoři

KREJSA, J.; VĚCHET, S.

Rok RIV

2013

Vydáno

09.05.2011

Nakladatel

Institute of Thermomechanics, Academy of Sciences of the Czech Republic

Místo

Prague

ISBN

978-80-87012-33-8

Kniha

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

Edice

2011

Strany od

227

Strany do

230

Strany počet

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"
}