Method of An Environment Mapping in the Neural Network Control System of Adaptive Mobile Robot

摘要

The imperfections of known automatic environment mapping algorithms, related to intellectual mobile robots, are analyzed in this paper. To decrease the influence of imperfections, the special method of environment mapping is suggested. The essences of this method are the simultaneous mapping and the environmental exploration by a robot while defining pass ability near the robot's current position, and mapping the spatial coordinates of these places together with information about its pass ability. The results of experiments, which confirm theoretical inferences, are shown. This method is oriented on application in the neural network control systems of a mobile robot.