Title :
Artificial neural networks for mobile robot acquiring heading angle
Author :
Zu, Li ; Wang, Hua-Kun ; Yue, Feng
Author_Institution :
Inst. of Mech. Eng., Nanjing Univ. of Sci. & Technol., China
Abstract :
The RBF network is designed for the mobile robot to acquire the accurate and real-time heading angle that is significant for the successful localization. Several designs related to the network architecture and training has been made to construct the RBF network using the OLS algorithm. The results of the experiment show that the designed neural network can greatly improve the accuracy of the localization. The proposed localization system with combined sensors based on the RBF neural network is reliable to ensure the intelligent behaviors of the robot. The technical presentations in this paper can facilitate the application of artificial neural networks in the environmental robotics.
Keywords :
intelligent robots; learning (artificial intelligence); least squares approximations; mobile robots; neural net architecture; position control; radial basis function networks; RBF network design; artificial neural networks; environmental robotics; intelligent behaviors; localization system; mobile robot; network architecture; network training; orthogonal least square algorithm; real time heading angle acquisition; Algorithm design and analysis; Artificial intelligence; Artificial neural networks; Intelligent networks; Intelligent robots; Intelligent sensors; Mobile robots; Radial basis function networks; Robot sensing systems; Sensor systems;
Conference_Titel :
Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on
Print_ISBN :
0-7803-8403-2
DOI :
10.1109/ICMLC.2004.1378596
