Hybrid Control for Autonomous Mobile Robot Navigation Using Neural Network Based Behavior Modules and Environment Classification

@article{Na2003HybridCF,
  title={Hybrid Control for Autonomous Mobile Robot Navigation Using Neural Network Based Behavior Modules and Environment Classification},
  author={Yong-Kyun Na and Se-Young Oh},
  journal={Auton. Robots},
  year={2003},
  volume={15},
  pages={193-206}
}
A hybrid control architecture combining behavior based reactive navigation and model based environment classification has been developed. It is also hybrid in the sense that both competitive coordination and cooperative coordination are used for the BBC (Behavior Based Control) part. The contributions are as follows. First, a Neural Network (NN) in charge of environment classification has been developed based on 16 prototypes of topological maps roughly describing various local navigation… CONTINUE READING
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