Adaptive behavior navigation of a mobile robot

This paper describes a neural network model for the reactive behavioral navigation of a mobile robot. From the information received through the sensors the robot can elicit one of several behaviors (e.g. stop, avoid, stroll, wall following), through a competitive neural network. The robot is able to develop a control strategy depending on sensor information and learning operation. Reinforcement learning improves the navigation of the robot by adapting the eligibility of the behaviors and determining the linear and angular robot velocities.