Usage of Hybrid Neural Network Model MLP-ART for Navigation of Mobile Robot

Authors:
Andrey Gavrilov;Sungyoung Lee
Affiliations:
Department of Computer Engineering, Kyung Hee University, 1, Soechen-ri, Giheung-eop, Yongin-shi, Gyeonggi-do, 449-701, Korea;Department of Computer Engineering, Kyung Hee University, 1, Soechen-ri, Giheung-eop, Yongin-shi, Gyeonggi-do, 449-701, Korea
Venue:
ICIC '07 Proceedings of the 3rd International Conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial Intelligence
Year:
2009

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Abstract

We suggest to apply the hybrid neural network based on multi layer perceptron (MLP) and adaptive resonance theory (ART-2) for solving of navigation task of mobile robots. This approach provides semi supervised learning in unknown environment with incremental learning inherent to ART and capability of adaptation to transformation of images inherent to MLP. Proposed approach is evaluated in experiments with program model of robot.