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A Polar Neural Map for Mobile Robot Navigation

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A Polar Neural Map for Mobile Robot Navigation

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    1. A Polar Neural Map for Mobile Robot Navigation Michail G. Lagoudakis Department of Computer Science Duke University

    2. Animal Navigation Maximum Gradient Following

    3. Robot Navigation

    4. Navigation Landscape

    5. Neural Maps for Path Planning A neural map is “a localized neural representation of signals in the outer world” [Amari, 1989] The processing units are topologically ordered over the configuration space of the robot.

    6. Neural Map Diffusion Dynamics External (Sensory) Input Lateral Connections Nonlinear Activation Function Activation Update Equation

    7. Path Planning Example 1

    8. Path Planning Example 1

    9. Path Planning Example 1

    10. Path Planning Example 2

    11. Path Planning Example 2

    12. Path Planning Example 2

    13. Mobile Robot Navigation Global Map-Based Deliberative Slow Local Sensory-Based Reactive Fast

    14. Nomad 200 Mobile Robot Nonholonomic Mobile Base Zero Gyro-Radius Max Speeds: 24 in/sec, 60 deg/sec Diameter: 21 in, Height: 31 in Pentium-Based Master PC Linux Operating System Full Wireless 1.6 Mbps Ethernet 16 Sonar Ring (6 in - 255 in) 20 Bump Sensors

    15. Neural Maps for Local Navigation No global information! Sensory information Egocentric view Circular range Decaying resolution A neural map can be used if adapted appropriately to account for the sensory and motor capabilities of the robot!

    16. “Bad” and “Good” Organization

    17. The Polar Neural Map Represents the local space. Resembles the distribution of sensory data. Provides higher resolution closer to the robot. Conventions: Inner Ring: Robot Center Outer Ring: Target Direction Robot’s “Working Memory”

    18. System Architecture

    19. Incremental Path Planning (1)

    20. Incremental Path Planning (2)

    21. Incremental Path Planning (3)

    22. Incremental Path Planning (4)

    23. Navigation in a Simulated World

    24. (Noisy) Sonar Readings

    25. U-Shaped Obstacle

    26. Cluttered Environment

    27. Navigation in the Real World (1)

    28. Navigation in the Real World (2)

    29. Contributions The Polar Neural Map “Working memory” of the robot holding local (in spatial and temporal sense) information. A complete Local Navigation System Implemented and tested on a Nomad 200 robot.

    30. Future Work Polar and Logarithmic Map Self-Organization of the Neural Map Explore analogies with the human vision system

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