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Neural Navigation Approach for Intelligent Autonomous Vehicles (IAV) in Partially Structured Environments
Published in Kluwer Academic Publishers
1998
Volume: 8
   
Issue: 3
Pages: 219 - 233
Abstract
The use of Neural Networks (NN) is necessary to bring the behavior of Intelligent Autonomous Vehicles (IAV) near the human one in recognition, learning, decision-making, and action. First, current navigation approaches based on NN are discussed. Indeed, these current approaches remedy insufficiencies of classical approaches related to real-time, autonomy, and intelligence. Second, a neural navigation approach essentially based on pattern classification to acquire target localization and obstacle avoidance behaviors is suggested. This approach must provide vehicles with capability, after supervised Gradient Backpropagation learning, to recognize both six (06) target location and thirty (30) obstacle avoidance situations using NN1 and NN2 Classifiers, respectively. Afterwards, the decision-making and action consist of two association stages, carried out by reinforcement Trial and Error learning, and their coordination using a NN3. Then, NN3 allows to decide among five (05) actions (move towards 30°, move towards 60°, move towards 90°, move towards 120°, and move towards 150°). Third, simulation results which display the ability of the neural approach to provide IAV with capability to intelligently navigate in partially structured environments are presented. Finally, a discussion dealing with the suggested approach and how it relates to some other works is given.
About the journal
JournalApplied Intelligence
PublisherKluwer Academic Publishers
ISSN0924669X
Open AccessNo
Concepts (8)
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    Intelligent autonomous vehicles
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    Navigation
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    Neural networks
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    Obstacle avoidance
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    Partially structured environments
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    Reinforcement trial and error learning
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    Supervised gradient backpropagation learning
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    Target localization