Artificial neural network for mobile robot topological localization
| Autor: | Artur Dubrawski, Janusz W. Racz |
|---|---|
| Rok vydání: | 1995 |
| Předmět: |
Artificial neural network
Computer science business.industry General Mathematics Supervised learning Mobile robot Robotics Robot learning Mobile robot navigation Computer Science Applications Computer Science::Robotics Control and Systems Engineering Robot Computer vision Artificial intelligence business Software |
| Zdroj: | Robotics and Autonomous Systems. 16:73-80 |
| ISSN: | 0921-8890 |
| DOI: | 10.1016/0921-8890(95)00035-e |
| Popis: | This paper presents a neural network based approach to a mobile robot localization in front of a certain local object. The robot is equipped with ultrasonic range sensors mounted around the platform. We employ the Fuzzy-ARTMAP network for supervised learning of associations between vectors of sensor readouts and the robot's pose coordinates. In this approach, a world model in the form of a map, as well as its updating routine, become superflous for the considered problem solution. The system, trained on real world data of a door neighborhood region reveals satisfactory performance, sufficient for door-passing task purposes. The proposed method of a mobile robot positioning may be efficiently applied in environments containing natural, geometrical beacons. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full Text from ScienceDirect