Learning locomotion reflexes: A self-supervised neural system for a mobile robot

Abstract

This article is concerned with an artificial neural system for a mobile robot reactive navigation in an unknown, cluttered environment. Reactive navigation is a process of immediately choosing locomotion actions in response to measured spatial situations, while no planning occurs. A task of a presented system is to provide a steering angle signal letting a robot reach a goal while avoiding collisions with obstacles. Basic reactive navigation methods are briefly characterized, special attention is paid to a neural approach to the considered problem. The authors describe the system's architecture and important details of the algorithm. The main parts of the system are: the Fuzzy ART neural self-organizing classifier, performing a perceptual space partitioning, and a neural associative memory, memorizing the system's experience and superposing influences of different behaviors. Tests show that the learning process, starting from zero , is efficient, despite some initial fluctuations of its effectiveness.