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Automatic navigation of mobile robots in unknown environments

Online navigation with known target and unknown obstacles is an interesting problem in mobile robotics. This article presents a technique based on utilization of neural networks and reinforcement learning to enable a mobile robot to learn constructed environments on its own. The robot learns to gene...

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Main Authors: Motlagh, Omid Reza Esmaeili, Nakhaeinia, Danial, Tang, Sai Hong, Karasfi, Babak, Khaksar, Weria
Format: Article
Language:English
Published: Springer 2014
Online Access:http://psasir.upm.edu.my/id/eprint/36601/1/Automatic%20navigation%20of%20mobile%20robots%20in%20unknown%20environments.pdf
http://psasir.upm.edu.my/id/eprint/36601/
http://link.springer.com/article/10.1007%2Fs00521-013-1393-z
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spelling my.upm.eprints.366012015-10-06T03:26:50Z http://psasir.upm.edu.my/id/eprint/36601/ Automatic navigation of mobile robots in unknown environments Motlagh, Omid Reza Esmaeili Nakhaeinia, Danial Tang, Sai Hong Karasfi, Babak Khaksar, Weria Online navigation with known target and unknown obstacles is an interesting problem in mobile robotics. This article presents a technique based on utilization of neural networks and reinforcement learning to enable a mobile robot to learn constructed environments on its own. The robot learns to generate efficient navigation rules automatically without initial settings of rules by experts. This is regarded as the main contribution of this work compared to traditional fuzzy models based on notion of artificial potential fields. The ability for generalization of rules has also been examined. The initial results qualitatively confirmed the efficiency of the model. More experiments showed at least 32 % of improvement in path planning from the first till the third path planning trial in a sample environment. Analysis of the results, limitations, and recommendations is included for future work. Springer 2014-06 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/36601/1/Automatic%20navigation%20of%20mobile%20robots%20in%20unknown%20environments.pdf Motlagh, Omid Reza Esmaeili and Nakhaeinia, Danial and Tang, Sai Hong and Karasfi, Babak and Khaksar, Weria (2014) Automatic navigation of mobile robots in unknown environments. Neural Computing & Applications, 24 (7-8). pp. 1569-1581. ISSN 0941-0643; ESSN: 1433-3058 http://link.springer.com/article/10.1007%2Fs00521-013-1393-z 10.1007/s00521-013-1393-z
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
language English
description Online navigation with known target and unknown obstacles is an interesting problem in mobile robotics. This article presents a technique based on utilization of neural networks and reinforcement learning to enable a mobile robot to learn constructed environments on its own. The robot learns to generate efficient navigation rules automatically without initial settings of rules by experts. This is regarded as the main contribution of this work compared to traditional fuzzy models based on notion of artificial potential fields. The ability for generalization of rules has also been examined. The initial results qualitatively confirmed the efficiency of the model. More experiments showed at least 32 % of improvement in path planning from the first till the third path planning trial in a sample environment. Analysis of the results, limitations, and recommendations is included for future work.
format Article
author Motlagh, Omid Reza Esmaeili
Nakhaeinia, Danial
Tang, Sai Hong
Karasfi, Babak
Khaksar, Weria
spellingShingle Motlagh, Omid Reza Esmaeili
Nakhaeinia, Danial
Tang, Sai Hong
Karasfi, Babak
Khaksar, Weria
Automatic navigation of mobile robots in unknown environments
author_facet Motlagh, Omid Reza Esmaeili
Nakhaeinia, Danial
Tang, Sai Hong
Karasfi, Babak
Khaksar, Weria
author_sort Motlagh, Omid Reza Esmaeili
title Automatic navigation of mobile robots in unknown environments
title_short Automatic navigation of mobile robots in unknown environments
title_full Automatic navigation of mobile robots in unknown environments
title_fullStr Automatic navigation of mobile robots in unknown environments
title_full_unstemmed Automatic navigation of mobile robots in unknown environments
title_sort automatic navigation of mobile robots in unknown environments
publisher Springer
publishDate 2014
url http://psasir.upm.edu.my/id/eprint/36601/1/Automatic%20navigation%20of%20mobile%20robots%20in%20unknown%20environments.pdf
http://psasir.upm.edu.my/id/eprint/36601/
http://link.springer.com/article/10.1007%2Fs00521-013-1393-z
_version_ 1643831782855933952
score 13.211869

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