Online-learning and Attention-based Approach to Obstacle Avoidance Using a Range Finder |
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Authors: | Shuqing Zeng Juyang Weng |
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Affiliation: | (1) Department of Computer Science and Engineering, Michigan State University, 3115 Engineering Building, East Lansing, MI 48824-1126, USA |
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Abstract: | The problem of developing local reactive obstacle-avoidance behaviors by a mobile robot through online real-time learning
is considered. The robot operated in an unknown bounded 2-D environment populated by static or moving obstacles (with slow
speeds) of arbitrary shape. The sensory perception was based on a laser range finder. A learning-based approach to the problem
is presented. To greatly reduce the number of training samples needed, an attentional mechanism was used. An efficient, real-time
implementation of the approach was tested, demonstrating smooth obstacle-avoidance behaviors in a corridor with a crowd of
moving students as well as static obstacles. |
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Keywords: | Humanoid Reactive collision avoidance Range finder Perception |
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