Mobile Robot Control Using BP Based Adaptive Critics

  • R. Jakša
  • M. Hudec
  • P. Sinčák
Conference paper
Part of the Advances in Soft Computing book series (AINSC, volume 5)


The paper presents results of experimental analysis of backpropagation and adaptive critic based control architecture. A number of experiments were performed with the application of a given method for mobile robot navigation. The number of variations of actor and critic neural networks were tested, and results show the ability of algorithm to deal with as many as six layers of units in networks. Observed ability of algorithm to deal with very big learning rates and simple experimental method for stabilization of algorithm are also discussed in the paper.


Mobile Robot Actor Network Mobile Robot Navigation Adaptive Critic Complex Neural Network 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2000

Authors and Affiliations

  • R. Jakša
    • 1
  • M. Hudec
    • 1
  • P. Sinčák
    • 1
  1. 1.Computational Intelligence Group Department of Cybernetics and Artificial IntelligenceTechnical UniversityKošiceSlovakia

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