Fast vision-guided mobile robot navigation using neural networks

摘要

Based on observations of human navigational behaviors, the authors have designed a vision-guided mobile robot navigation system that uses both a knowledge base system for high level supervisory control, and a collection of neural networks that mimic human reactive navigational behaviors such as 'go down the hallway' or 'follow the junction to the left'. They present the neural network component of the vision-guided mobile robot navigation system called NEURO-NAV and deal with how visual information is processed and how neural networks are used to perform primitive navigational tasks. Experimental results of neural classification and vision-guided navigation are included.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>