Learning Localisation Based on Landmarks Using Self-Organisation
نویسندگان
چکیده
In order to have an autonomous robot, the robot must be able to navigate independently within an environment. Place cells are cells that respond to the environment the animal is in. In this paper we present a model of place cells based on Self Organising Maps. The aim of this paper is to show that localisation can be performed even without having a built in map. The model presented shows that the landmarks are selected without any human interference. After training, a robot can localise itself within a learnt environment.
منابع مشابه
\Meaning" through Clustering by Self-Organisation of Spatial and Temporal Information
This paper presents an episodic mapping mechanism used for the self-localisation of autonomous mobile robots. A two layer self organising neural network classiies perceptual and episodic information to identify \perceptual landmarks" (and thus the robot's position in the world) uniquely. Through this process relevant information is obtained from the temporal ow of ambiguous and redundant sensor...
متن کاملAn Episodic Mapping Algorithm for Mobile Robot Self-localisation: \meaning" through Self-organisation 1
This paper presents an episodic mapping mechanism used for the self-localisation of autonomous mobile robots. A two layer self organising neural network classiies perceptual and episodic information to identify \perceptual landmarks" (and thus the robot's position in the world) uniquely. Through this process ambiguous and redundant sensory information is used to generate meaningful information ...
متن کاملAssociative Neural Models for Biomimetic Multi- Modal Learning in a Mirror Neuron-based Robot
By using neurocognitive evidence on mirror neuron system concepts the MirrorBot project has developed neural models for intelligent robot behaviour. These models employ diverse learning approaches such as reinforcement learning, self-organisation and associative learning to perform cognitive robotic operations such as language grounding in actions, object recognition, localisation and docking. ...
متن کاملFuzzy Self-Localization Using Natural Features in the Four-Legged League
In the RoboCup four-legged league, robots mainly rely on artificial coloured landmarks for localisation. As it was done in other leagues, artificial landmarks will soon be removed as part of the RoboCup push toward playing in more natural environments. Unfortunately, the robots in this league have very unreliable odometry due to poor modeling of legged locomotion and to undetected collisions. T...
متن کاملLocalisation using Automatically Selected Landmarks from Panoramic Images
The use of visual landmarks for robot localisation is a promising field. It is apparent that the success of localisation by visual landmarks depends on the landmarks chosen. Good landmarks are those which remain reliable over time and through changes in position and orientation. This paper describes a system which learns places by automatically selecting landmarks from panoramic images and uses...
متن کامل