Presentation | 2004/11/20 Navigation of Mobile Robot using Location Map of Place Cells Toshio TANAKA, Kenji NISHIDA, Takio KURITA, |
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Abstract(in English) | Place cells in the rodent hippocampus fire when the rat occupies a restricted portion of an environment. We propose a method of navigating a mobile robot using a location map of place cells and actor-critic reinforcement learning. The location map of place cells is self-organized by neural-gas from position and image data obtained by exploratory movements. The images are captured through Hyper Omni Vision. Then connections between place cells are constructed by Kruskal's algorithm and are used for navigation. The paths to a given goal are learned by actor-critic reinforcement learning algorithm. It is shown by simulation experiments that the mobile robot can reach the given goal by correcting errors even if there are some movement errors. |
Keyword(in Japanese) | (See Japanese page) |
Keyword(in English) | place cell / neural-gas / mobile robot / navigation / reinforcement learning |
Paper # | NC2004-104 |
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Committee | NC |
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Conference Date | 2004/11/20(1days) |
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Registration To | Neurocomputing (NC) |
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Language | JPN |
Title (in Japanese) | (See Japanese page) |
Sub Title (in Japanese) | (See Japanese page) |
Title (in English) | Navigation of Mobile Robot using Location Map of Place Cells |
Sub Title (in English) | |
Keyword(1) | place cell |
Keyword(2) | neural-gas |
Keyword(3) | mobile robot |
Keyword(4) | navigation |
Keyword(5) | reinforcement learning |
1st Author's Name | Toshio TANAKA |
1st Author's Affiliation | National Institute of Advanced Industrial Science and Technology() |
2nd Author's Name | Kenji NISHIDA |
2nd Author's Affiliation | National Institute of Advanced Industrial Science and Technology |
3rd Author's Name | Takio KURITA |
3rd Author's Affiliation | National Institute of Advanced Industrial Science and Technology |
Date | 2004/11/20 |
Paper # | NC2004-104 |
Volume (vol) | vol.104 |
Number (no) | 474 |
Page | pp.pp.- |
#Pages | 6 |
Date of Issue |