Integration of an Inverse Optimal Neural Controller with Reinforced-SLAM for Path Panning and Mapping in Dynamic Environments
Título del documento: Integration of an Inverse Optimal Neural Controller with Reinforced-SLAM for Path Panning and Mapping in Dynamic Environments
Revue: Computación y sistemas
Base de datos: PERIÓDICA
Número de sistema: 000388892
ISSN: 1405-5546
Autores: 1
1
1
1
Instituciones: 1Universidad de Guadalajara, Centro Universitario de Ciencias Exactas e Ingenierías, Zapopan, Jalisco. México
Año:
Periodo: Jul-Sep
Volumen: 19
Número: 3
Paginación: 445-456
País: México
Idioma: Inglés
Tipo de documento: Artículo
Enfoque: Experimental, aplicado
Resumen en inglés This work presents an artificial intelligence approach to solve the problem of finding a path and creating a map in unknown environments using Reinforcement Learning (RL) and Simultaneous Localization and Mapping (SLAM) for a differential mobile robot along with an optimal control system. We propose the integration of these approaches (two of the most widely used ones) for the implementation of robot navigation systems with an efficient method of control composed by a neural identifier and an inverse optimal control in order to obtain a robust and autonomous system of navigation in unknown and dynamic environments
Disciplinas: Ciencias de la computación
Palabras clave: Inteligencia artificial,
Control neuronal,
Planeación de trayectorias,
Mapeo,
Ambientes dinámicos
Keyword: Computer science,
Artificial intelligence,
Neural control,
Path planning,
Mapping,
Dynamic environments
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