A New Dynamic Self-Organizing Method for Mobile Robot Environment Mapping

• 作者: Hongjun Song Jing Chen Xiaogang Ruan Yuanyuan Gao
• 来源期刊: 智能学习系统与应用(英文)
• 学科: 工学
• 关键词: Mobile ROBOT Environment MAPPING Growing-Threshold Tuning SELF-ORGANIZING
• 年，卷（期）: 2011,（4）
• 页码范围: 249-256
• 页数: 8页
• 分类号: TP39

摘要

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.