Mobile Robot Navigation with Neural Maps

12/1/98


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Table of Contents

CPS 300 - Graduate Seminar

Mobile Robot Navigation with Neural Maps

Motivation

Talk Outline

Mobile Robots

Mobile Robot Navigation

Navigation Subproblems

Animal Navigation

Robot Navigation

Navigation Landscape

Neural Maps

Neural Map Property

Neurons

Path Planning with Neural Maps

Network Topology

Path Planning Example 1

Path Planning Example 1

Path Planning Example 1

Path Planning Example 2

Path Planning Example 2

Path Planning Example 2

Problem?

A “Bad” Idea

A “Good” Idea

The Polar Neural Map

Example

Example (...continued)

Example (...continued)

Example (...continued)

Boudreaux (Nomad 200)

System Architecture

Results

Results (…continued)

Results (…continued)

Results (…continued)

Results (…continued)

Results (…continued)

Robot Movie

Contributions

Future Work

More Information

Thank You

Author: Michail G. Lagoudakis

Email: mgl@cs.duke.edu

Home Page: http://www.cs.duke.edu/~mgl

Other information:
Presentation given at Duke University on 11/12/98.

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