文章基本信息

标题：A New Dynamic Self-Organizing Method for Mobile Robot Environment Mapping
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作者：Xiaogang Ruan ; Yuanyuan Gao ; Hongjun Song 等
期刊名称：Journal of Intelligent Learning Systems and Applications
印刷版ISSN：2150-8402
电子版ISSN：2150-8410
出版年度：2011
卷号：3
期号：4
页码：249-256
DOI：10.4236/jilsa.2011.34028
出版社：Scientific Research Publishing
摘要：To solve the mapping problem for the mobile robots in the unknown environment, a dynamic growing self-organizing map with growing-threshold tuning automatically algorithm (DGSOMGT) based on Self-organizing Map is proposed. It introduces a value of spread factor to describe the changing process of the growing threshold dynamically. The method realizes the network structure growing by training through mobile robot movement constantly in the unknown environment. The proposed algorithm is based on self-organizing map and can adjust the growing-threshold value by the number of network neurons increasing. It avoids tuning the parameters repeatedly by human. The experimental results show that the proposed method detects the complex environment quickly, effectively and correctly. The robot can realize environment mapping automatically. Compared with the other methods the proposed mapping strategy has better topological properties and time property.
关键词：Mobile Robot; Environment Mapping; Growing-Threshold Tuning; Self-Organizing