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Proceedings Paper

MST-based SOFM in hybrid robot architecture
Author(s): Seok-Min Yun; Jin-Young Choi
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Paper 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.

Paper Details

Date Published: 2 May 2006
PDF: 5 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423O (2 May 2006); doi: 10.1117/12.664771
Show Author Affiliations
Seok-Min Yun, Seoul National Univ. (South Korea)
Jin-Young Choi, Seoul National Univ. (South Korea)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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