A Novel Artificial Organic Control System for Mobile Robot Navigation in Assisted Living Using Vision- and Neural-Based Strategies

<div>Inputs (<span class="nowrap"><svg height="14.127pt" id="M161" style="vertical-align:-1.5765pt" version="1.1" viewbox="-0.0498162 -12.5505 38.528 14.127" width="38.528pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><rect height="0.65243" width="7.02021" x="0" y="-8.52081"></rect><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M515 96L502 119C471 88 431 62 423 62C416 62 411 70 417 101C440 223 469 341 497 448H486L412 422L380 277C330 188 210 57 152 57C137 57 126 69 139 124L195 366C210 431 205 448 182 448C155 448 89 413 23 350L36 326C73 354 103 376 112 376C118 376 118 365 113 340L61 118C54 90 52 68 52 51C52 0 75 -12 98 -12S151 -3 181 17C242 58 305 119 362 193H364L345 104C323 3 339 -12 359 -12C390 -12 464 35 515 96Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.02,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z"></path></g><rect height="0.65243" width="5.88497" x="16.5216" y="-8.37728"></rect><g transform="matrix(.013,0,0,-0.013,16.522,0)"><path d="M219 86C216 168 211 250 206 337C201 410 189 448 163 448C131 448 79 396 43 344L60 322C91 359 110 375 118 375S132 358 136 298C141 238 152 81 155 -12H182C242 62 331 177 390 258C435 321 451 360 451 391C450 424 432 448 408 448C390 448 372 435 366 419C362 410 362 401 366 394C373 383 376 367 376 350C376 283 262 138 221 86H219Z"></path></g><g transform="matrix(.013,0,0,-0.013,22.406,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z"></path></g><rect height="0.65243" width="6.49826" x="31.9079" y="-11.8482"></rect><g transform="matrix(.013,0,0,-0.013,31.908,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z"></path></g></svg>)</span> and output (<i>speed</i>) values for the controller.</div>

Computational Intelligence and Neuroscience

fig11

Figure 11

Figure 11: A Novel Artificial Organic Control System for Mobile Robot Navigation in Assisted Living Using Vision- and Neural-Based Strategies 