Implementacja samoorganizującej sieci neuronowej w sterowaniu behawioralnym mobilnego robota

In this paper we propose a sensor-based navigation method for navigation of wheeled mobile robot, based on the Kohonen Self-Organising Map (SOM). We discuss a sensor-based approach to path design and control of wheeled mobile robot in an unknown 2-D environment with static obstacles. A strategy of reactive navigation is developed including two main behaviours: a reaching the middle of a collision-free space behaviour, and a goal-seeking behaviour. The proposed approach was tested using laboratory-mobile robot.