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基于二维GDSOM的路标动态自组织提取方法

, PP. 1002-1006

Keywords: 主动感知,感知-运动协调,自组织特征图,二维神经元网络

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Abstract:

提出一种基于距离传感器的结构化特征的动态、自组织提取方法。该方法由3个部分组成:主动感知行为的设计,时空信息的降维处理及路标的自组织提取。设计基于沿墙走的“主动感知行为”来获得高相关性的感知时空序列信息;给出基于变化检测和激活强度的活性神经元来对时空序列信息降维;最后提出一种二维动态增长自组织特征图方法,实现环境路标的自组织提取和识别。实验结果验证该方法的有效性。

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