Mobile robot control using self-learning neural network

Abstract

The paper describes the concept of the navigation system for a mobile robot. The system is using a navigation algorithm based on self-learning neural network, necessary to form a movement plan for a robot. The algorithm is adapted and implemented to navigate real platform of a mobile robot equipped by two independent wheel drives, encoders and a set of short-range sonars. Navigation algorithm is placed into a PC, which is connected to mobile robot by wireless and wired links. Experiments have shown ability of collision-free navigation of mobile robot in real time. © 2009 IEEE.