Dynamical neural networks for planning and low-level robot control

Authors:
M. Quoy;S. Moga;P. Gaussier
Affiliations:
ETIS, Univ. de Cergy-Pontoise-ENSEA, Cergy-Pontoise, France;-;-
Venue:
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Year:
2003

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Abstract

We use dynamical neural networks based on the neural field formalism for the control of a mobile robot. The robot navigates in an open environment and is able to plan a path for reaching a particular goal. We will describe how this dynamical approach may be used by a high level system (planning) for controlling a low level behavior (speed of the robot). We give also results about the control of the orientation of a camera and a robot body.