Detail publikace
MOBILE ROBOT MOTION PLANNER VIA NEURAL NETWORK
KREJSA, J. VĚCHET, S.
Český název
MOBILE ROBOT MOTION PLANNER VIA NEURAL NETWORK
Anglický název
MOBILE ROBOT MOTION PLANNER VIA NEURAL NETWORK
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
en
Originální abstrakt
Motion planning is essential for mobile robot successful navigation. There are many algorithms for motion planning under various constraints. However, in some cases the human can still do a better job, therefore it would be advantageous to create a planner based on data gathered from the robot simulation when humans do the planning. The paper presents the method of using the neural network to transfer the previously gained knowledge into the machine learning based planner. In particular the neural network task is to mimic the planner based on finite state machine. The tests proved that neural network can successfully learn to navigate in constrained environment.
Český abstrakt
Motion planning is essential for mobile robot successful navigation. There are many algorithms for motion planning under various constraints. However, in some cases the human can still do a better job, therefore it would be advantageous to create a planner based on data gathered from the robot simulation when humans do the planning. The paper presents the method of using the neural network to transfer the previously gained knowledge into the machine learning based planner. In particular the neural network task is to mimic the planner based on finite state machine. The tests proved that neural network can successfully learn to navigate in constrained environment.
Anglický abstrakt
Motion planning is essential for mobile robot successful navigation. There are many algorithms for motion planning under various constraints. However, in some cases the human can still do a better job, therefore it would be advantageous to create a planner based on data gathered from the robot simulation when humans do the planning. The paper presents the method of using the neural network to transfer the previously gained knowledge into the machine learning based planner. In particular the neural network task is to mimic the planner based on finite state machine. The tests proved that neural network can successfully learn to navigate in constrained environment.
Klíčová slova česky
Mobile robot; motion planning; neural networks
Klíčová slova anglicky
Mobile robot; motion planning; neural networks
Rok RIV
2011
Vydáno
09.05.2011
Nakladatel
Institute of Thermomechanics, Academy of Sciences of the Czech Republic
Místo
Prague
ISBN
978-80-87012-33-8
Kniha
Engineering Mechanics 2011, 17th International conference may 9-12, 2011, Svratka, Czech republic
Číslo edice
1
Strany od–do
227–230
Počet stran
4
BIBTEX
@inproceedings{BUT98286,
author="Jiří {Krejsa} and Stanislav {Věchet},
title="MOBILE ROBOT MOTION PLANNER VIA NEURAL NETWORK",
booktitle="Engineering Mechanics 2011, 17th International conference may 9-12, 2011, Svratka, Czech republic",
year="2011",
month="May",
pages="227--230",
publisher="Institute of Thermomechanics, Academy of Sciences of the Czech Republic",
address="Prague",
isbn="978-80-87012-33-8"
}