inria-00000495, version 1
Evolutionary Optimisation for Obstacle Detection and Avoidance in Mobile Robotics
Olivier Pauplin
1Jean Louchet 2Evelyne Lutton 2Arnaud De La Fortelle 1
Journal of Advanced Computational Intelligence and Intelligent Informatics 9, 6 (2005) 622-629
Résumé : This paper presents an artificial evolution-based method for stereo image analysis and its application to real-time obstacle detection and avoidance for a mobile robot. It uses the Parisian approach, which consists here in splitting the representation of the robot's environment into a large number of simple primitives, the “flies”, which are evolved according to a biologically inspired scheme. Results obtained on real scene with different fitness functions are presented and discussed, and an exploitation for obstacle avoidance in mobile robotics is proposed.
- 1 : IMARA (INRIA Rocquencourt)
- INRIA
- 2 : COMPLEX (INRIA Rocquencourt)
- INRIA
- Domaine : Informatique/Intelligence artificielle
Informatique/Recherche opérationnelle - Mots-clés : evolutionary algorithm – stereovision – vision systems for robotics – obstacle detection
- Commentaire : http://www.fujipress.jp
- inria-00000495, version 1
- http://hal.inria.fr/inria-00000495
- oai:hal.inria.fr:inria-00000495
- Contributeur : Olivier Pauplin
- Soumis le : Vendredi 18 Août 2006, 11:21:25
- Dernière modification le : Vendredi 18 Août 2006, 11:21:25
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