Evolutionary programming-based univector field navigation method for fast mobile robots

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Most of navigation techniques with obstacle avoidance do not consider the robot orientation at the target position. These techniques deal with the robot position only and are independent of its orientation and velocity. To solve these problems this paper proposes a novel univector field method for fast mobile robot navigation which introduces a normalized two-dimensional vector field. The method provides fast moving robots with the desired posture at the target position and obstacle avoidance. To obtain the sub-optimal,vector field, a function approximator is used and trained by evolutionary programming. Tno kinds of vector fields are trained, one for the final posture acquisition and the other for obstacle avoidance. Computer simulations and real experiments are carried out for a fast moving mobile robot to demonstrate the effectiveness of the proposed scheme.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2001-06
Language
English
Article Type
Article
Keywords

COOPERATIVE MULTIAGENT SYSTEM; REAL-TIME APPLICATION; SOCCER ROBOT

Citation

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, v.31, no.3, pp.450 - 458

ISSN
1083-4419
URI
http://hdl.handle.net/10203/11259
Appears in Collection
EE-Journal Papers(저널논문)ME-Journal Papers(저널논문)
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