About: Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	When mobile robots are used among people, the best accepted motion related behavior is a human-like motion of the robot. Such behavior is difficult to obtain with commonly used finite state machine based planners, but can easily be evoked when human controls the robot. The paper presents the way of transforming such knowledge from human controller to reactive planner in the robot navigation module. Reactive planner is based on machine learning, neural networks in particular. The planner consists of two separate neural networks, one serving as predictor of dynamic obstacles behavior, second one serving as the reactive planner itself, producing desirable actions of the robot both in terms of velocity and direction. Planner was verified on real robot producing human-like behavior when used in real environment. When mobile robots are used among people, the best accepted motion related behavior is a human-like motion of the robot. Such behavior is difficult to obtain with commonly used finite state machine based planners, but can easily be evoked when human controls the robot. The paper presents the way of transforming such knowledge from human controller to reactive planner in the robot navigation module. Reactive planner is based on machine learning, neural networks in particular. The planner consists of two separate neural networks, one serving as predictor of dynamic obstacles behavior, second one serving as the reactive planner itself, producing desirable actions of the robot both in terms of velocity and direction. Planner was verified on real robot producing human-like behavior when used in real environment. (en)
Title	Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment (en)
skos:prefLabel	Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment (en)
skos:notation	RIV/00216305:26210/13:PU106668!RIV14-MSM-26210___
http://linked.open...avai/predkladatel	Fakulta strojního inženýrství
http://linked.open...avai/riv/aktivita	I S Z
http://linked.open...avai/riv/aktivity	I, S, Z(AV0Z20760514)
http://linked.open...iv/cisloPeriodika	198
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Ripel, Tomáš
http://linked.open.../riv/druhVysledku	J - Článek v odborném periodiku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Vysoké učení technické v Brně / Fakulta strojního inženýrství
http://linked.open...dnocenehoVysledku	91444
http://linked.open...ai/riv/idVysledku	RIV/00216305:26210/13:PU106668
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	mobile robot, reactive navigation, artificial neural networks (en)
http://linked.open.../riv/klicoveSlovo	reactive navigation artificial neural networks mobile robot
http://linked.open...odStatuVydavatele	CH - Švýcarská konfederace
http://linked.open...ontrolniKodProRIV	[A233930CC26B]
http://linked.open...i/riv/nazevZdroje	Solid State Phenomena
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...UplatneniVysledku	2013
http://linked.open...v/svazekPeriodika	2013
http://linked.open...iv/tvurceVysledku	Krejsa, Jiří Ripel, Tomáš Věchet, Stanislav
http://linked.open...n/vavai/riv/zamer	Complex dynamical systems in thermodynamics, fluid and solid mechanics
issn	1012-0394
number of pages	6 (xsd:int)
http://localhost/t...ganizacniJednotka	26210

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