Intelligent autonomous navigation for mobile robots: spatial concept acquisition and object discrimination

Antonelo, Eric Aislan; Figueiredo, Mauricio; Baerlvedt, Albert-Jan; Calvo, Rodrigo

doi:10.1109/CIRA.2005.1554335

Reference : Intelligent autonomous navigation for mobile robots: spatial concept acquisition and ...


	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Computer science
	To cite this reference:	http://hdl.handle.net/10993/36483

Title :	Intelligent autonomous navigation for mobile robots: spatial concept acquisition and object discrimination
Language :	English
Author, co-author :	Antonelo, Eric Aislan [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) >]
	Figueiredo, Mauricio [> >]
	Baerlvedt, Albert-Jan [> >]
	Calvo, Rodrigo [> >]
Publication date :	2005
Main document title :	Proceedings of the 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation
Pages :	553-557
Peer reviewed :	Yes
Audience :	International
ISBN :	0-7803-9355-4
City :	Helsinki, Finland
Event name :	6th IEEE International Symposium on Computational Intelligence in Robotics and Automation
Event date :	27-06-2005 to 30-06-2005
Abstract :	[en] An autonomous system able to construct its own navigation strategy for mobile robots is proposed. The navigation strategy is molded from navigation experiences (succeeding as the robot navigates) according to a classical reinforcement learning procedure. The autonomous system is based on modular hierarchical neural networks. Initially the navigation performance is poor (many collisions occur). Computer simulations show that after a period of learning the autonomous system generates efficient obstacle avoidance and target seeking behaviors. Experiments also offer support for concluding that the autonomous system develops a variety of object discrimination capability and of spatial concepts.
Permalink :	http://hdl.handle.net/10993/36483
DOI :	10.1109/CIRA.2005.1554335
Other URL :	https://ieeexplore.ieee.org/document/1554335/

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