Application of Autonomous Mapping Algorithm on a Desktop Robot System
Application of Autonomous Mapping Algorithm on a Desktop Robot System
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DOI：
10.1109/icnc.2009.156
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发表时间：
2009-08
期刊：
影响因子：
--
通讯作者：
X. Ruan;X. Xing
中科院分区：
文献类型：
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作者：
X. Ruan;X. Xing
本研究探讨一种采用嵌入式技术设计的桌上型机器人系统。机器人的尺寸小于200立方厘米。该系统通过全局摄像头采集图像，并通过无线通信组件对机器人进行导航。本文以桌面机器人系统为研究对象，开展了自主地图绘制的研究。本文提出的自主映射算法是基于GSOM（Growing Self-Organizing Map）算法的。GSOM映射算法通过在网络规模增长过程中不断增加新的神经元，利用少量的神经元生成描述环境特征的拓扑图。通过在机器人系统上测试GSOM映射算法，实验结果表明基于GSOM的映射方法是可行的，机器人系统表现出类似生物的自主智能行为。
This study investigates a desktop robot system which is designed with adopting the embedded technology. The size of the robot is less than 200cm3. The system collects images by a global camera, and navigates the robot with wireless communication components. The research focusing on autonomous mapping has been carried out on the desktop robot system. The autonomous mapping algorithm in this paper is based on GSOM (Growing Self-organizing Map) algorithm. By continuously increasing new neurons in the growth of network scale, the GSOM mapping algorithm applies a small number of neurons to generate a topological map describing the environmental characteristics. Through testing GSOM mapping algorithm on the robot system, the experimental results show that the GSOM-based mapping method is feasible; and the robot system shows similar biological behaviors of autonomous intelligence.