To solve the mapping problem for the mobile robots in the unknown environment, a dynamic growing self-organizing map with growing-threshold tuning automatically algorithm (DGSOMGT) based on Self-organizing Map is proposed. It introduces a value of spread factor to describe the changing process of the growing threshold dynamically. The method realizes the network structure growing by training through mobile robot movement constantly in the unknown environment. The proposed algorithm is based on self-organizing map and can adjust the growing-threshold value by the number of network neurons increasing. It avoids tuning the parameters repeatedly by human. The experimental results show that the proposed method detects the complex environment quickly, effectively and correctly. The robot can realize environment mapping automatically. Compared with the other methods the proposed mapping strategy has better topological properties and time property.
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机译:Indicadores de Altera莽茫o Hidrol贸gica no Alto Rio Paran谩: Interven莽玫es Humanas e Implica莽玫es na Din芒mica do Ambiente Fluvial / Indicators of Hydrologic Alteration in the High Parana River Catchment: Human Interventions and Implications for Dynamic of the Fluvial Environment
机译:Control and Dynamic Manipulability of a Dual-arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality =虚拟现实中用于康复训练的双臂/手机器人外骨骼系统(EXO-UL8)的控制和动力可操作性