MAPPING METHOD FOR CIRCUMSTANCES OF ROBOT USING A NERVE NETWORK AND EVOLUTIONARY COMPUTATION

摘要

PURPOSE: A method for making an environment map of a robot is provided to accurately make a map by optimally controlling the connection intensity of a neutral network according to a noise model of the rotor and a sensor. CONSTITUTION: A trace of a robot is calculated using a neural network(S110). A map of feature points measured by the robot is made based on the calculated trace(S120). The termination of the mapping is determined by evaluating the map(S130). If the map evaluation result is not satisfied with a preset reference, the connection of the inner nodes of the neural network is controlled using an evolutionary operation method(S140).