SciELO - Scientific Electronic Library Online

vol.19 issue3Neural Control for a Differential Drive Wheeled Mobile Robot Integrating Stereo Vision FeedbackAutonomous Motion Planning for Avatar Limbs author indexsubject indexsearch form
Home Pagealphabetic serial listing  

Services on Demand




Related links

  • Have no similar articlesSimilars in SciELO


Computación y Sistemas

Print version ISSN 1405-5546


ALANIS, Alma Y.; ARANA-DANIEL, Nancy; LOPEZ-FRANCO, Carlos  and  GUEVARA-REYES, Edgar. Integration of an Inverse Optimal Neural Controller with Reinforced-SLAM for Path Panning and Mapping in Dynamic Environments. Comp. y Sist. [online]. 2015, vol.19, n.3, pp.445-456. ISSN 1405-5546.

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.

Keywords : Optimal neural control; reinforced-SLAM; path panning; mapping; dynamic environments.

        · text in English     · English ( pdf )


Creative Commons License All the contents of this journal, except where otherwise noted, is licensed under a Creative Commons Attribution License