Manifold Learning for Robot Navigation
In this paper we introduce methods to build a SOM that can be used as an isometric map for mobile robots. That is, given a dataset of sensor readings collected at points uniformly distributed with respect to the ground, we wish to build a SOM whose neurons (prototype vectors in sensor space) correspond to points uniformly distributed on the ground. Manifold learning techniques have already been used for dimensionality reduction of sensor space in navigation systems. Our focus is on the isometric property of the SOM. For reliable path-planning and information sharing between several robots, it is desirable that the robots build an internal representation of the sensor manifold, a map, that is isometric with the environment. We show experimentally that standard Non-Linear Dimensionality Reduction (NLDR) algorithms do not provide isometric maps for range data and bearing data. However, the auxiliary low dimensional manifolds created can be used to improve the distribution of the neurons of a SOM (that is, make the neurons more evenly distributed with respect to the ground). We also describe a method to create an isometric map from a sensor readings collected along a polygonal line random walk.
Impact and interest:
Citation counts are sourced monthly from and citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
|Item Type:||Journal Article|
|Additional Information:||For more information, please refer to the journal’s website (see link) or contact the author. Author contact details: email@example.com|
|Keywords:||manifold learning, NLDR, SOM, robot navigation|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Science and Technology|
|Copyright Owner:||Copyright 2006 World Scientific Publishing|
|Deposited On:||30 Nov 2006 00:00|
|Last Modified:||29 Feb 2012 13:22|
Repository Staff Only: item control page