Implementing Temporal Radial Basis Function for Reactive Navigation of Mobile Robot

Mesbahi Larbi ¹, Hendel Fatiha ², Berrached Nasr-Eddine², and Abdelkader Benyettou ¹

¹ Laboratoire SIMPA, University of Sciences and Technology of Oran, Algeria

² Laboratoire LARESI, University of Sciences and Technology of Oran, Algeria

Abstract: We present in this article, the realisation of reactive navigation module based on neural networks Like Temporal Radial Basis Functions (TRBF), with respect of security constraints and inherent robustness while using an Orthogonal Least Square algorithm (OLS). Applied to a structured type like interior of building, the mobile robot must assure its task of navigation mildly all while avoiding obstacles without wandering, with the possibility to take into account the taken decisions in its past lasting trajectory.

Keywords: Reactive navigation, TRBF, OLS, mobile robot.

Received May 18, 2004; accepted August 15, 2004