Navite: A Neural Network System For Sensory-Based Robot Navigation
| Data(s) |
14/11/2011
14/11/2011
01/10/1993
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| Resumo |
A neural network system, NAVITE, for incremental trajectory generation and obstacle avoidance is presented. Unlike other approaches, the system is effective in unstructured environments. Multimodal inforrnation from visual and range data is used for obstacle detection and to eliminate uncertainty in the measurements. Optimal paths are computed without explicitly optimizing cost functions, therefore reducing computational expenses. Simulations of a planar mobile robot (including the dynamic characteristics of the plant) in obstacle-free and object avoidance trajectories are presented. The system can be extended to incorporate global map information into the local decision-making process. Defense Advanced Research Projects Agency (AFOSR 90-0083); Office of Naval Research (N00014-92-J-l309); Consejo Nacional de Ciencia y Tecnología (63l462) |
| Identificador | |
| Publicador |
Boston University Center for Adaptive Systems and Department of Cognitive and Neural Systems |
| Relação |
BU CAS/CNS Technical Reports;CAS/CNS-TR-1993-041 |
| Direitos |
Copyright 1993 Boston University. Permission to copy without fee all or part of this material is granted provided that: 1. The copies are not made or distributed for direct commercial advantage; 2. the report title, author, document number, and release date appear, and notice is given that copying is by permission of BOSTON UNIVERSITY TRUSTEES. To copy otherwise, or to republish, requires a fee and / or special permission. Boston University Trustees |
| Tipo |
Technical Report |
