Title :
Classification of sonar data for a mobile robot using neural networks
Author :
Diep, D. ; Johannet, A. ; Bonnefoy, P. ; Harroy, F. ; Loiseau, P.
Author_Institution :
EMA, Nimes, France
Abstract :
We study an innovative architecture of an ultrasonic sensor, in conjunction with a neural network-based classification algorithm, in order to recognize some geometric obstacles encountered by a mobile robot. The ultrasonic sensor is made of the association of an array of ultrasonic transducers, building an acoustic antenna, and providing acoustic scans with a fine resolution. The neural network is a multilayer perceptron which was trained with a set of features extracted from the sonar data. Results show that, by selecting appropriate features, the network can be trained to classify some geometric shapes, like wall corners and edges
Keywords :
feature extraction; mobile robots; multilayer perceptrons; object recognition; pattern classification; ultrasonic transducer arrays; acoustic antenna; acoustic scans; geometric obstacles; mobile robot; multilayer perceptron; neural network-based classification algorithm; sonar data; ultrasonic sensor; ultrasonic transducers; Acoustic arrays; Acoustic sensors; Antenna arrays; Classification algorithms; Mobile robots; Neural networks; Sensor arrays; Sonar; Ultrasonic transducer arrays; Ultrasonic transducers;
Conference_Titel :
Intelligence and Systems, 1998. Proceedings., IEEE International Joint Symposia on
Conference_Location :
Rockville, MD
Print_ISBN :
0-8186-8548-4
DOI :
10.1109/IJSIS.1998.685456