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Modular Neural Netw...
Modular Neural Network and Classical Reinforcement Learning for Autonomous Robot Navigation : Inhibiting Undesirable Behaviors
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- Antonelo, Eric A. (author)
- Electronics and Information Systems (ELIS) department, Ghent university, Belgium
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- Baerveldt, Albert-Jan (author)
- Högskolan i Halmstad,Halmstad Embedded and Intelligent Systems Research (EIS)
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- Rögnvaldsson, Thorsteinn (author)
- Högskolan i Halmstad,Halmstad Embedded and Intelligent Systems Research (EIS)
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- Figueiredo, Mauricio (author)
- State University of Maringá, Brazil
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(creator_code:org_t)
- Piscataway, N.J. IEEE Press, 2006
- 2006
- English.
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In: International Joint Conference on Neural Networks, 2006. IJCNN '06. - Piscataway, N.J. : IEEE Press. - 0780394909 ; , s. 498-505
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Abstract
Subject headings
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- Classical reinforcement learning mechanisms and a modular neural network are unified for conceiving an intelligent autonomous system for mobile robot navigation. The conception aims at inhibiting two common navigation deficiencies: generation of unsuitable cyclic trajectories and ineffectiveness in risky configurations. Distinct design apparatuses are considered for tackling these navigation difficulties, for instance: 1) neuron parameter for memorizing neuron activities (also functioning as a learning factor), 2) reinforcement learning mechanisms for adjusting neuron parameters (not only synapse weights), and 3) a inner-triggered reinforcement. Simulation results show that the proposed system circumvents difficulties caused by specific environment configurations, improving the relation between collisions and captures.
Subject headings
- MEDICIN OCH HÄLSOVETENSKAP -- Medicinska och farmaceutiska grundvetenskaper (hsv//swe)
- MEDICAL AND HEALTH SCIENCES -- Basic Medicine (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences (hsv//eng)
Keyword
- mobile robots
- neurocontrollers
- path planning
- TECHNOLOGY
- TEKNIKVETENSKAP
Publication and Content Type
- ref (subject category)
- kon (subject category)
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