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Authors: Younes Raoui and El Houssine Bouyakhf

Affiliation: Mohamed V University, Morocco

ISBN: 978-989-758-122-9

Keyword(s): Robot Navigation, Neural Fields, Global Visual Descriptor, Robot Behavior, Extended Kalman Filter.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Machine Learning in Control Applications ; Neural Networks Based Control Systems ; Robotics and Automation

Abstract: In this paper we present a method for obstacle avoidance which uses the neural field technique to learn the different actions of the robot. The perception is used based on monocular camera which allows us to have a 2D representation of a scene. Besides, we describe this scene using visual global descriptor called GIST. In order to enhance the quality of the perception, we use laser range data through laser range finder sensor. Having these two observations, GIST and range data, we fuse them using an addition. We show that the fusion data gives better quality when comparing the estimated position of the robot and the ground truth. Since we are using the paradigm learning-test, when the robot acquires data, it uses it as stimuli for the neural field in order to deduce the best action among the four basic ones (right, left, frontward, backward). The navigation is metric so we use Extended Kalman Filter in order to update the robot position using again the combination of GIST and range da ta. (More)

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Paper citation in several formats:
Raoui, Y. and Bouyakhf, E. (2015). A Multi-sensory Stimuli Computation Method for Complex Robot Behavior Generation.In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 139-145. DOI: 10.5220/0005528301390145

@conference{icinco15,
author={Younes Raoui. and El Houssine Bouyakhf.},
title={A Multi-sensory Stimuli Computation Method for Complex Robot Behavior Generation},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={139-145},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005528301390145},
isbn={978-989-758-122-9},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Multi-sensory Stimuli Computation Method for Complex Robot Behavior Generation
SN - 978-989-758-122-9
AU - Raoui, Y.
AU - Bouyakhf, E.
PY - 2015
SP - 139
EP - 145
DO - 10.5220/0005528301390145

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