A New Dynamic Self-Organizing Method for Mobile Robot Environment Mapping
Xiaogang Ruan, Yuanyuan Gao, Hongjun Song, Jing Chen
DOI: 10.4236/jilsa.2011.34028   PDF    HTML     5,089 Downloads   9,099 Views   Citations


To solve the mapping problem for the mobile robots in the unknown environment, a dynamic growing self-organizing map with growing-threshold tuning automatically algorithm (DGSOMGT) based on Self-organizing Map is proposed. It introduces a value of spread factor to describe the changing process of the growing threshold dynamically. The method realizes the network structure growing by training through mobile robot movement constantly in the unknown environment. The proposed algorithm is based on self-organizing map and can adjust the growing-threshold value by the number of network neurons increasing. It avoids tuning the parameters repeatedly by human. The experimental results show that the proposed method detects the complex environment quickly, effectively and correctly. The robot can realize environment mapping automatically. Compared with the other methods the proposed mapping strategy has better topological properties and time property.

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X. Ruan, Y. Gao, H. Song and J. Chen, "A New Dynamic Self-Organizing Method for Mobile Robot Environment Mapping," Journal of Intelligent Learning Systems and Applications, Vol. 3 No. 4, 2011, pp. 249-256. doi: 10.4236/jilsa.2011.34028.

Conflicts of Interest

The authors declare no conflicts of interest.


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