SUB-GOAL BASED ROBOT VISUAL NAVIGATION THROUGH SENSORIAL SPACE TESSELATION
Journal Title: International Journal of Advanced Research in Artificial Intelligence(IJARAI) - Year 2013, Vol 2, Issue 11
Abstract
In this paper, we propose an evolutionary cognitive architecture to enable a mobile robot to cope with the task of visual navigation. Initially a graph based world representation is used to build a map, prior to navigation, through an appearance based scheme using only features associated with color information. During the next step, a genetic algorithm evolves a navigation controller that the robot uses for visual servoing, driving through a set of nodes on the topological map. Experiments in simulation show that an evolved robot, adapted to both exteroceptive and proprioceptive data, is able to successfully drive through a list of sub-goals minimizing the problem of local minima in which evolutionary process can sometimes get trapped. We also show that this approach is more expressive for defining a simplistic fitness formula yet descriptive enough for targeting specific goals.
Authors and Affiliations
George Palamas, J. Ware
Keywords
Related Articles
- EP ID EP131060
- DOI -
- Views 79
- Downloads 0
Adaptive Group Organization Cooperative Evolutionary Algorithm for TSK-type Neural Fuzzy Networks Design
This paper proposes a novel adaptive group organization cooperative evolutionary algorithm (AGOCEA) for TSK-type neural fuzzy networks design. The proposed AGOCEA uses group-based cooperative evolutionary algorithm and s...
METHOD FOR TEALEAVES QUALITY ESTIMATION THROUGH MEASUREMENTS OF DEGREE OF POLAZATION, LEAF AREA INDEX, PHOTOSYNTHESIS AVAILABLE RADIANCE AND NORMALIZED DIFFERENCE VEGETATION INDEX FOR CHARACTERIZATION OF TEALEAVES
Method for tealeaves quality estimation through measurements of Degree of Polarization: DP, Leaf Area Index: LAI, Photosynthesis Available Radiance: PAR and Normalized Difference Vegetation Index: NDVI for characterizati...
Effect of Driver Scope Awareness in the Lane Changing Maneuvers Using Cellular Automaton Model
This paper investigated the effect of drivers’ visibility and their perception (e.g., to estimate the speed and arrival time of another vehicle) on the lane changing maneuver. The term of scope awareness was used to desc...
Creation of a Remote Sensing Portal for Practical Use Dedicated to Local Goverments in Kyushu, Japan
Remote sensing portal site for practical uses which is dedicated to local governments is created. Key components of the site are (1) links to data providers, (2) links to the data analysis software tools, (3) examp...
Comparison Between Linear and Nonlinear Models of Mixed Pixels in Remote Sensing Satellite Images Based on Cierniewski Surface BRDF Model by Means of Monte Carlo Ray Tracing Simulation
Comparative study on linear and nonlinear mixed pixel models of which pixels in remote sensing satellite images is composed with plural ground cover materials mixed together, is conducted for remote sensing satelli...