NDLI: Neural control system of a mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Harb, M. Abielmona, R. Petriu, E. Naji, K.
Copyright Year	2008
Abstract	Mobile robots could play a significant role in places where it is impossible for the human to work. In such environments, neural networks, instead of traditional methods, are suitable solutions to locally navigate and recognize the environmentpsilas subspaces. In order to learn and perform two important functions ldquoenvironmental recognitionrdquo and ldquolocal navigationrdquo, multi-layered neural networks are trained to process distance measurements received from a laser range finder. This paper will focus on a computer based design and test of this neural system, that includes three neural controllers for local navigation, and two neural networks for environmental recognition, fed off-line by a simulated model of a laser range-finder. These neural networks are the major components of a control system that performs a global neural navigation of a mobile robot, which could be used to perform industrial missions within industrial environments. This control system can guide a mobile robot to track its predefined path to arrive to its final goal through a set of sub-goals, or autonomously plan its path to arrive to the desired final goal, and to avoid obstacles that are found along the way.
Starting Page	2825
Ending Page	2832
File Size	615637
Page Count	8
File Format	PDF
ISBN	9781424418206
ISSN	10987576
DOI	10.1109/IJCNN.2008.4634196
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-01
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Artificial neural networks Conferences Joints Navigation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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