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ieeexplore.ieee.org/iel5/6997/18853/00870792.pdf?arnumber=870792

An extended virtual force field based behavioral fusion with neuralnetworks and evolutionary programming for mobile robot navigation
Kwang-Young Im; Se-Young Oh
Evolutionary Computation, 2000. Proceedings of the 2000 Congress on
Volume 2, Issue , 2000 Page(s):1238 - 1244 vol.2
Digital Object Identifier 10.1109/CEC.2000.870792
Summary:A local navigation algorithm for mobile robots is proposed, based on the new extended virtual force field (EVFF) concept, neural network-based fusion for the three primitive behaviors generated by the EVFF, and the evolutionary programming-based optimization of the neural network weights. Furthermore, a multi-network version of the above neurally-combined EVFF has been proposed that lends itself not only to an efficient architecture but also to a greatly enhanced generalization capability. These techniques have been verified through both simulation and real experiments under a collection of complex environments