Adaptive obstacle avoidance with a neural network for operant conditioning: experiments with real robots

Gaudiano et al. (1996) have shown that a neural network model of classical and operant conditioning can be trained to control the movements of a wheeled mobile robot. The neural network learns to avoid obstacles as the robot moves around without supervision in a cluttered environment. The neural network does not require any knowledge about the quality or configuration of the sensors. In this article we report results using our neural network with the real mobile robot Khepera.

[1]  Juan López Coronado,et al.  An Unsupervised Neural Network for Real-Time Low-Level Control of a Mobile Robot: Noise Resistance, Stability, and Hardware Implementation , 1994 .

[2]  Allen M. Waxman,et al.  Visual learning, adaptive expectations, and behavioral conditioning of the mobile robot MAVIN , 1991, Neural Networks.

[3]  S. Grossberg,et al.  Pattern Recognition by Self-Organizing Neural Networks , 1991 .

[4]  Juan López Coronado,et al.  An unsupervised neural network for low-level control of a wheeled mobile robot: noise resistance, stability, and hardware implementation , 1996, IEEE Trans. Syst. Man Cybern. Part B.

[5]  Piero Mussio,et al.  Toward a Practice of Autonomous Systems , 1994 .

[6]  Juan López Coronado,et al.  A Model of Operant Conditioning for Adaptive Obstacle Avoidance , 1996 .

[7]  Michael A. Arbib,et al.  The handbook of brain theory and neural networks , 1995, A Bradford book.

[8]  S. Grossberg.  Neural Networks and Natural Intelligence , 1988 .

[9]  Carolina Chang,et al.  Neural Competitive Maps for Reactive and Adaptive Navigation , 1997 .

[10]  Richard S. Sutton,et al.  Neural networks for control , 1990 .

[11]  S Grossberg,et al.  On the dynamics of operant conditioning. , 1971, Journal of theoretical biology.

[12]  S. Grossberg,et al.  Neural dynamics of attentionally modulated Pavlovian conditioning: blocking, interstimulus interval, and secondary reinforcement. , 1987, Applied optics.

[13]  S. Grossberg.  Studies of mind and brain : neural principles of learning, perception, development, cognition, and motor control , 1982 .

[14]  S. Grossberg.  A psychophysiological theory of reinforcement, drive, motivation, and attention , 1987 .

[15]  S. Grossberg,et al.  Neural dynamics of attentionally modulated Pavlovian conditioning: Conditioned reinforcement, inhibition, and opponent processing , 1987, Psychobiology.

[16]  Juan López Coronado,et al.  A real-time, unsupervised neural network for the low-level control of a mobile robot in a nonstationary environment , 1995, Neural Networks.