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Evolutionary algorithm based neural network controller optimization for autonomous mobile robot navigation

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2 Author(s)
Seong-Joo Han ; Dept. of Electr. Eng., Pohang Univ. of Sci. & Technol., South Korea ; Se-young Oh

A neural network based navigation algorithm is proposed for mobile robots using ultrasonic sensors. The neural network has a dynamically reconfigurable structure which can not only optimize the weights but also the input sensory connectivity in order to meet any user-defined objective. Further, in order to enhance generalization capability of a single network, a modular network is used in which each network module is optimized for a specific local environment based on environment classification. Both computer simulation and real experiments show the effective performance of the algorithm

Published in:

Evolutionary Computation, 2001. Proceedings of the 2001 Congress on  (Volume:1 )

Date of Conference:

2001