Título: SNNAP: Sistema Neural de Navegação em Ambientes Pré-Mapeados
Autores: Vaz, Jerusa Marchi; Fabro, João Alberto
Resumo: In this paper is presented a proposal of an hibrid control system for navigation of mobile vehicles, that uses sensor based navigation together with map-based trajectory planning. The resulting system is named SNNAP (Sistema Neural para Navegação em Ambientes Pré-Mapeados – Neural System for Navigation in Known Environments). This system integrates Neural Networks for avoiding unknown obstacles, and a map-based algorithm for trajectory planning. Are also presented studies of previous proposals, a mobile vehicle simulator named Khepera, in which this approach has been tested, and the steps taken to develop the system.
Artigo em pdf: 4cbrn_028.pdf
Arquivo BibTex: 4cbrn_028.bib