A Connectionist Learning Control Architecture for Navigation

A novel learning control architecture is used for navigation. A sophisti(cid:173) cated test-bed is used to simulate a cylindrical robot with a sonar belt in a planar environment. The task is short-range homing in the pres(cid:173) ence of obstacles. The robot receives no global information and assumes no comprehensive world model. Instead the robot receives only sensory information which is inherently limited.