Robot Navigation Method based on Intelligent Evolution

摘要

Robot navigation is important symbol of its intelligent level, especially under dynamic environment. In this paper, a robot navigation method based on intelligent evolution is proposed, and Tolman Mouse Maze Experiment is reproduced by robot rather than mouse. Firstly the topological map of the indoor environment is built by Self-Organizing Map (SOM) method based on random traversal, then the path planning method based on reinforcement learning, during the navigation process, the environment of the maze will change, and the robot can automatically update its topological map according to the environment change by adjusting its neural network structure, so as to reach the goal as soon as possible. The validity of the proposed method is proved by simulation results based on MATLAB and gazebo, moreover physical experiments carried on Turtlebot robot both reproduced Tolman Mouse Maze Experiment, so our intelligent evolution algorithm made robot as clever as animal being able to find the short path to the goal.