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An extended virtual force field based behavioral fusion with neural networks and evolutionary programming for mobile robot navigation

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2 Author(s)
Kwang-Young Im ; Dept. of Electr. Eng., Pohang Inst. of Sci. & Technol., South Korea ; Se-young Oh

A local navigation algorithm for mobile robots is proposed, based on the new extended virtual force field (EVFF) concept, neural network-based fusion for the three primitive behaviors generated by the EVFF, and the evolutionary programming-based optimization of the neural network weights. Furthermore, a multi-network version of the above neurally-combined EVFF has been proposed that lends itself not only to an efficient architecture but also to a greatly enhanced generalization capability. These techniques have been verified through both simulation and real experiments under a collection of complex environments

Published in:

Evolutionary Computation, 2000. Proceedings of the 2000 Congress on  (Volume:2 )

Date of Conference:

2000