NDLI: Navigating mobile robots with a modular neural architecture

Content Provider	Springer Nature Link
Author	Silva, Catarina Ribeiro, Bernardete
Copyright Year	2003
Abstract	Neural architectures have been proposed to navigate mobile robots within several environment definitions. In this paper a new neural modular constructive approach to navigate mobile robots in unknown environments is presented. The problem, in its basic form, consists of defining and executing a trajectory to a pre-defined goal while avoiding all obstacles, in an unknown environment. Some crucial issues arise when trying to solve this problem, such as an overflow of sensorial information and conflicting objectives. Most neural network (NN) approaches to this problem focus on a monolithic system, i.e., a system with only one neural network that receives and analyses all available information, resulting in conflicting training patterns, long training times and poor generalisation. The work presented in this article circumvents these problems by the use of a constructive modular NN. Navigation capabilities were proven with the NOMAD 200 mobile robot.
Starting Page	200
Ending Page	211
Page Count	12
File Format	PDF
ISSN	09410643
Journal	Neural Computing and Applications
Volume Number	12
Issue Number	3-4
e-ISSN	14333058
Language	English
Publisher	Springer-Verlag
Publisher Date	2003-11-14
Publisher Place	London
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Constructive algorithms Mobile robot navigation Modular neural networks Sensor fusion
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Software

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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
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