Path Planning System for a Mobile Robot using Self-Organizing Map
作者单位：KyushuInstitute of Technology 680-4 Kawazu Iizuka Fukuoka 820-8502 Japan
会议名称：《2001 International Conferences on Info-tech and Info-net》
会议日期：2001年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
关 键 词：Self-Organizing Map Mobile Robot Path Planning
摘 要：正In order to navigate a mobile robot using environmental information（distances to the obstacles,visual image and so on）,many kinds of variables should be handled to recognize the situation of the robot,estimate the position and make its *** is not easy to decide the robot’s action using a lot of variables on-line and in *** the feature abstraction from the obtained environmental information is inevitable and one of the most important problems to be solved in order to realize the autonomous mobile *** Self-Organizing Map（SOM） is known as one of the effective methods to extract the principle feature from many parameters and decrease the dimension of *** features are suitable to the path planning system of the mobile robot. In this paper,a navigation and a position estimation algorithm based on SOM are introduced into the path planning *** efficiency of the system is examined and discussed through the collision avoidance and position estimation experiment using the distances obtained from the ultrasonic range sensors and the magnetic field data.