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dc.contributor.authorAguilar, J. Marioen_US
dc.contributor.authorContreras-Vidal, José L.en_US
dc.date.accessioned2011-11-14T18:19:23Z
dc.date.available2011-11-14T18:19:23Z
dc.date.issued1993-10en_US
dc.identifier.urihttp://hdl.handle.net/2144/2018
dc.description.abstractA neural network system, NAVITE, for incremental trajectory generation and obstacle avoidance is presented. Unlike other approaches, the system is effective in unstructured environments. Multimodal inforrnation from visual and range data is used for obstacle detection and to eliminate uncertainty in the measurements. Optimal paths are computed without explicitly optimizing cost functions, therefore reducing computational expenses. Simulations of a planar mobile robot (including the dynamic characteristics of the plant) in obstacle-free and object avoidance trajectories are presented. The system can be extended to incorporate global map information into the local decision-making process.en_US
dc.description.sponsorshipDefense Advanced Research Projects Agency (AFOSR 90-0083); Office of Naval Research (N00014-92-J-l309); Consejo Nacional de Ciencia y Tecnología (63l462)en_US
dc.publisherBoston University Center for Adaptive Systems and Department of Cognitive and Neural Systemsen_US
dc.relation.ispartofseriesBU CAS/CNS Technical Reports;CAS/CNS-TR-1993-041en_US
dc.rightsCopyright 1993 Boston University. Permission to copy without fee all or part of this material is granted provided that: 1. The copies are not made or distributed for direct commercial advantage; 2. the report title, author, document number, and release date appear, and notice is given that copying is by permission of BOSTON UNIVERSITY TRUSTEES. To copy otherwise, or to republish, requires a fee and / or special permission.en_US
dc.titleNavite: A Neural Network System For Sensory-Based Robot Navigationen_US
dc.typeTechnical Reporten_US
dc.rights.holderBoston University Trusteesen_US


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