Neurogenetic algorithm applied to Route Planning for Autonomous Mobile Robots

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dc.contributor.authorBruno, Diego Renan
dc.contributor.authorMarranghello, Norian [UNESP]
dc.contributor.authorOsorio, Fernando Santos
dc.contributor.authorPereira, Aledir Silveira [UNESP]
dc.contributor.authorIEEE
dc.contributor.institutionUniversidade de São Paulo (USP)
dc.contributor.institutionUniversidade Estadual Paulista (Unesp)
dc.date.accessioned2021-06-25T19:36:34Z
dc.date.available2021-06-25T19:36:34Z
dc.date.issued2018-01-01
dc.description.abstractWe developed a bioinspired algorithm to assist in the navigation of an autonomous mobile robot in dynamic environments. The robotic controller uses both an Artificial Neural Network (ANN) and a Genetic Algorithm (GA), aided by a low computational cost vision system. The controller uses the vision system and the ANN to detect and recognize obstacles found in the robot's path. If the object is in the controller's knowledge bank a previously registered deviation solution is applied. Otherwise, the GA must optimize a new route alternative. We modeled and simulated the controller using robot's simulator V-REP, and the Computer Vision System using Scilab software. The contribution of this paper is the development of a hybrid neuro-genetic algorithm to control the navigation of autonomous mobile robots in dynamic environments.en
dc.description.affiliationUniv Sao Paulo, Sao Paulo, SP, Brazil
dc.description.affiliationSao Paulo State Univ UNESP, Sao Paulo, SP, Brazil
dc.description.affiliationUnespSao Paulo State Univ UNESP, Sao Paulo, SP, Brazil
dc.description.sponsorshipCoordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
dc.description.sponsorshipLRM (Mobile Robotics Laboratory from ICMC-USP)
dc.format.extent8
dc.identifier.citation2018 International Joint Conference On Neural Networks (ijcnn). New York: Ieee, 8 p., 2018.
dc.identifier.issn2161-4393
dc.identifier.urihttp://hdl.handle.net/11449/210530
dc.identifier.wosWOS:000585967404041
dc.language.isoeng
dc.publisherIeee
dc.relation.ispartof2018 International Joint Conference On Neural Networks (ijcnn)
dc.sourceWeb of Science
dc.subjectMobile robot
dc.subjectNeural network
dc.subjectGenetic algorithm
dc.subjectGlobal path planning
dc.titleNeurogenetic algorithm applied to Route Planning for Autonomous Mobile Robotsen
dc.typeTrabalho apresentado em evento
dcterms.licensehttp://www.ieee.org/publications_standards/publications/rights/rights_policies.html
dcterms.rightsHolderIeee

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