MST-based SOFM in hybrid robot architecture

Seok-Min Yun; Jin-Young Choi

doi:10.1117/12.664771

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2 May 2006 MST-based SOFM in hybrid robot architecture

Seok-Min Yun, Jin-Young Choi

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Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60423O (2006) https://doi.org/10.1117/12.664771
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

This paper presented a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provided real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework was verified by simulation.

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Seok-Min Yun and Jin-Young Choi "MST-based SOFM in hybrid robot architecture", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423O (2 May 2006); https://doi.org/10.1117/12.664771

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