Navite: A Neural Network System For Sensory-Based Robot Navigation

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dc.contributor.author Aguilar, J. Mario en_US
dc.contributor.author Contreras-Vidal, José L. en_US
dc.date.accessioned 2011-11-14T18:19:23Z
dc.date.available 2011-11-14T18:19:23Z
dc.date.issued 1993-10 en_US
dc.identifier.uri http://hdl.handle.net/2144/2018
dc.description.abstract A neural network system, NAVITE, for incremental trajectory generation and obstacle avoidance is presented. Unlike other approaches, the system is effective in unstructured environments. Multimodal inforrnation from visual and range data is used for obstacle detection and to eliminate uncertainty in the measurements. Optimal paths are computed without explicitly optimizing cost functions, therefore reducing computational expenses. Simulations of a planar mobile robot (including the dynamic characteristics of the plant) in obstacle-free and object avoidance trajectories are presented. The system can be extended to incorporate global map information into the local decision-making process. en_US
dc.description.sponsorship Defense Advanced Research Projects Agency (AFOSR 90-0083); Office of Naval Research (N00014-92-J-l309); Consejo Nacional de Ciencia y Tecnología (63l462) en_US
dc.publisher Boston University Center for Adaptive Systems and Department of Cognitive and Neural Systems en_US
dc.relation.ispartofseries BU CAS/CNS Technical Reports;CAS/CNS-TR-1993-041 en_US
dc.rights Copyright 1993 Boston University. Permission to copy without fee all or part of this material is granted provided that: 1. The copies are not made or distributed for direct commercial advantage; 2. the report title, author, document number, and release date appear, and notice is given that copying is by permission of BOSTON UNIVERSITY TRUSTEES. To copy otherwise, or to republish, requires a fee and / or special permission. en_US
dc.title Navite: A Neural Network System For Sensory-Based Robot Navigation en_US
dc.type Technical Report en_US
dc.rights.holder Boston University Trustees en_US

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