Neurogenetic algorithm applied to Route Planning for Autonomous Mobile Robots
Autor(a) principal: | |
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Data de Publicação: | 2018 |
Outros Autores: | , , , |
Tipo de documento: | Artigo de conferência |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://hdl.handle.net/11449/210530 |
Resumo: | We developed a bioinspired algorithm to assist in the navigation of an autonomous mobile robot in dynamic environments. The robotic controller uses both an Artificial Neural Network (ANN) and a Genetic Algorithm (GA), aided by a low computational cost vision system. The controller uses the vision system and the ANN to detect and recognize obstacles found in the robot's path. If the object is in the controller's knowledge bank a previously registered deviation solution is applied. Otherwise, the GA must optimize a new route alternative. We modeled and simulated the controller using robot's simulator V-REP, and the Computer Vision System using Scilab software. The contribution of this paper is the development of a hybrid neuro-genetic algorithm to control the navigation of autonomous mobile robots in dynamic environments. |
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Repositório Institucional da UNESP |
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2946 |
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Neurogenetic algorithm applied to Route Planning for Autonomous Mobile RobotsMobile robotNeural networkGenetic algorithmGlobal path planningWe developed a bioinspired algorithm to assist in the navigation of an autonomous mobile robot in dynamic environments. The robotic controller uses both an Artificial Neural Network (ANN) and a Genetic Algorithm (GA), aided by a low computational cost vision system. The controller uses the vision system and the ANN to detect and recognize obstacles found in the robot's path. If the object is in the controller's knowledge bank a previously registered deviation solution is applied. Otherwise, the GA must optimize a new route alternative. We modeled and simulated the controller using robot's simulator V-REP, and the Computer Vision System using Scilab software. The contribution of this paper is the development of a hybrid neuro-genetic algorithm to control the navigation of autonomous mobile robots in dynamic environments.Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)LRM (Mobile Robotics Laboratory from ICMC-USP)Univ Sao Paulo, Sao Paulo, SP, BrazilSao Paulo State Univ UNESP, Sao Paulo, SP, BrazilSao Paulo State Univ UNESP, Sao Paulo, SP, BrazilIeeeUniversidade de São Paulo (USP)Universidade Estadual Paulista (Unesp)Bruno, Diego RenanMarranghello, Norian [UNESP]Osorio, Fernando SantosPereira, Aledir Silveira [UNESP]IEEE2021-06-25T19:36:34Z2021-06-25T19:36:34Z2018-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject82018 International Joint Conference On Neural Networks (ijcnn). New York: Ieee, 8 p., 2018.2161-4393http://hdl.handle.net/11449/210530WOS:000585967404041Web of Sciencereponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPeng2018 International Joint Conference On Neural Networks (ijcnn)info:eu-repo/semantics/openAccess2021-10-23T20:19:03Zoai:repositorio.unesp.br:11449/210530Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T15:10:01.394712Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
Neurogenetic algorithm applied to Route Planning for Autonomous Mobile Robots |
title |
Neurogenetic algorithm applied to Route Planning for Autonomous Mobile Robots |
spellingShingle |
Neurogenetic algorithm applied to Route Planning for Autonomous Mobile Robots Bruno, Diego Renan Mobile robot Neural network Genetic algorithm Global path planning |
title_short |
Neurogenetic algorithm applied to Route Planning for Autonomous Mobile Robots |
title_full |
Neurogenetic algorithm applied to Route Planning for Autonomous Mobile Robots |
title_fullStr |
Neurogenetic algorithm applied to Route Planning for Autonomous Mobile Robots |
title_full_unstemmed |
Neurogenetic algorithm applied to Route Planning for Autonomous Mobile Robots |
title_sort |
Neurogenetic algorithm applied to Route Planning for Autonomous Mobile Robots |
author |
Bruno, Diego Renan |
author_facet |
Bruno, Diego Renan Marranghello, Norian [UNESP] Osorio, Fernando Santos Pereira, Aledir Silveira [UNESP] IEEE |
author_role |
author |
author2 |
Marranghello, Norian [UNESP] Osorio, Fernando Santos Pereira, Aledir Silveira [UNESP] IEEE |
author2_role |
author author author author |
dc.contributor.none.fl_str_mv |
Universidade de São Paulo (USP) Universidade Estadual Paulista (Unesp) |
dc.contributor.author.fl_str_mv |
Bruno, Diego Renan Marranghello, Norian [UNESP] Osorio, Fernando Santos Pereira, Aledir Silveira [UNESP] IEEE |
dc.subject.por.fl_str_mv |
Mobile robot Neural network Genetic algorithm Global path planning |
topic |
Mobile robot Neural network Genetic algorithm Global path planning |
description |
We developed a bioinspired algorithm to assist in the navigation of an autonomous mobile robot in dynamic environments. The robotic controller uses both an Artificial Neural Network (ANN) and a Genetic Algorithm (GA), aided by a low computational cost vision system. The controller uses the vision system and the ANN to detect and recognize obstacles found in the robot's path. If the object is in the controller's knowledge bank a previously registered deviation solution is applied. Otherwise, the GA must optimize a new route alternative. We modeled and simulated the controller using robot's simulator V-REP, and the Computer Vision System using Scilab software. The contribution of this paper is the development of a hybrid neuro-genetic algorithm to control the navigation of autonomous mobile robots in dynamic environments. |
publishDate |
2018 |
dc.date.none.fl_str_mv |
2018-01-01 2021-06-25T19:36:34Z 2021-06-25T19:36:34Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/conferenceObject |
format |
conferenceObject |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
2018 International Joint Conference On Neural Networks (ijcnn). New York: Ieee, 8 p., 2018. 2161-4393 http://hdl.handle.net/11449/210530 WOS:000585967404041 |
identifier_str_mv |
2018 International Joint Conference On Neural Networks (ijcnn). New York: Ieee, 8 p., 2018. 2161-4393 WOS:000585967404041 |
url |
http://hdl.handle.net/11449/210530 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
2018 International Joint Conference On Neural Networks (ijcnn) |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
8 |
dc.publisher.none.fl_str_mv |
Ieee |
publisher.none.fl_str_mv |
Ieee |
dc.source.none.fl_str_mv |
Web of Science reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
institution |
UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
repository.name.fl_str_mv |
Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
repository.mail.fl_str_mv |
|
_version_ |
1808128472387682304 |