Biologically inspired goal directed navigation for mobile robots

 

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dc.contributor.advisor Verrinder, Robyn A en_ZA
dc.contributor.author Amayo, Paul Omondi en_ZA
dc.date.accessioned 2016-07-20T11:54:52Z
dc.date.available 2016-07-20T11:54:52Z
dc.date.issued 2016 en_ZA
dc.identifier.citation Amayo, P. 2016. Biologically inspired goal directed navigation for mobile robots. University of Cape Town. en_ZA
dc.identifier.uri http://hdl.handle.net/11427/20512
dc.description.abstract This project involved an investigation into low-cost navigation of mobile robots with the aim of creating and adaptive navigation system inspired by behaviour seen in animals. The navigation module developed here would need to be able to successfully localise a robot and navigate it to a defined target. A critical literature review was carried out of current localisation and path-planning architectures and a bio-inspired approach using an Echo State Network and Liquid State Machine architecture was chosen as the base for the navigation modules. The navigation module implemented in this work is trained to navigate and localise itself in different environments drawing its inspiration from the behaviour of small rodents. These architectures were adapted for use by a robot with a view on the physical implementation of these architectures on an embedded low-cost robot using a Raspberry Pi computer. This robot was then built using low-cost, noisy proximity sensors which formed the inputs to the navigation modules. Before the deployment on the embedded robot the system was tested and validated in a full physics simulator. While the training of the Echo State Networks and Liquid State Machine has been carried out in the literature by the offline method of linear regression, in this work we introduce a novel way of training these networks that is online using concepts from adaptive filters. This online method increases the adaptability of this system while significantly decreasing its memory requirements making it very attractive for low-cost embedded robots. The end result from the project was a functioning navigation module using an Echo State Network that was able to navigate the robot to a target position as well as learn new paths, either using offline or online methods. The results showed that the Echo State Network approach was valid both in simulation and practically as a base for creating navigation modules for low-cost robots and could also lead to more efficient and adaptable robots being developed if the training was carried out in an online manner. The increased computational complexity of implementing the liquid State machine on analytical machines however made it unsuitable for deployment on robots using embedded micro-controllers. en_ZA
dc.language.iso eng en_ZA
dc.subject.other Electrical Engineering en_ZA
dc.subject.other Robotics en_ZA
dc.title Biologically inspired goal directed navigation for mobile robots en_ZA
dc.type Master Thesis
uct.type.publication Research en_ZA
uct.type.resource Thesis en_ZA
dc.publisher.institution University of Cape Town
dc.publisher.faculty Faculty of Engineering and the Built Environment
dc.publisher.department Department of Electrical Engineering en_ZA
dc.type.qualificationlevel Masters
dc.type.qualificationname MSc (Eng) en_ZA
uct.type.filetype Text
uct.type.filetype Image
dc.identifier.apacitation Amayo, P. O. (2016). <i>Biologically inspired goal directed navigation for mobile robots</i>. (Thesis). University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering. Retrieved from http://hdl.handle.net/11427/20512 en_ZA
dc.identifier.chicagocitation Amayo, Paul Omondi. <i>"Biologically inspired goal directed navigation for mobile robots."</i> Thesis., University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2016. http://hdl.handle.net/11427/20512 en_ZA
dc.identifier.vancouvercitation Amayo PO. Biologically inspired goal directed navigation for mobile robots. [Thesis]. University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2016 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/20512 en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - Amayo, Paul Omondi AB - This project involved an investigation into low-cost navigation of mobile robots with the aim of creating and adaptive navigation system inspired by behaviour seen in animals. The navigation module developed here would need to be able to successfully localise a robot and navigate it to a defined target. A critical literature review was carried out of current localisation and path-planning architectures and a bio-inspired approach using an Echo State Network and Liquid State Machine architecture was chosen as the base for the navigation modules. The navigation module implemented in this work is trained to navigate and localise itself in different environments drawing its inspiration from the behaviour of small rodents. These architectures were adapted for use by a robot with a view on the physical implementation of these architectures on an embedded low-cost robot using a Raspberry Pi computer. This robot was then built using low-cost, noisy proximity sensors which formed the inputs to the navigation modules. Before the deployment on the embedded robot the system was tested and validated in a full physics simulator. While the training of the Echo State Networks and Liquid State Machine has been carried out in the literature by the offline method of linear regression, in this work we introduce a novel way of training these networks that is online using concepts from adaptive filters. This online method increases the adaptability of this system while significantly decreasing its memory requirements making it very attractive for low-cost embedded robots. The end result from the project was a functioning navigation module using an Echo State Network that was able to navigate the robot to a target position as well as learn new paths, either using offline or online methods. The results showed that the Echo State Network approach was valid both in simulation and practically as a base for creating navigation modules for low-cost robots and could also lead to more efficient and adaptable robots being developed if the training was carried out in an online manner. The increased computational complexity of implementing the liquid State machine on analytical machines however made it unsuitable for deployment on robots using embedded micro-controllers. DA - 2016 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2016 T1 - Biologically inspired goal directed navigation for mobile robots TI - Biologically inspired goal directed navigation for mobile robots UR - http://hdl.handle.net/11427/20512 ER - en_ZA


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