Unsupervised Neural Network for the Control of a Mobile Robot
| Data(s) |
14/11/2011
14/11/2011
01/10/1993
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| Resumo |
This article introduces an unsupervised neural architecture for the control of a mobile robot. The system allows incremental learning of the plant during robot operation, with robust performance despite unexpected changes of robot parameters such as wheel radius and inter-wheel distance. The model combines Vector associative Map (VAM) learning and associate learning, enabling the robot to reach targets at arbitrary distances without knowledge of the robot kinematics and without trajectory recording, but relating wheel velocities with robot movements. Sloan Fellowship (BR-3122); Air Force Office of Scientific Research (F49620-92-J-0499) |
| Identificador | |
| Publicador |
Boston University Center for Adaptive Systems and Department of Cognitive and Neural Systems |
| Relação |
BU CAS/CNS Technical Reports;CAS/CNS-TR-1993-056 |
| 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 |
| Palavras-Chave | #Neural networks #VAM #AVITE #Competitive learning #Unsupervised #Mobile robot |
| Tipo |
Technical Report |
