Title :
Navigation of autonomous mobile robot using different activation functions of wavelet neural network
Author :
Panigrahi, Pratap Kumar ; Sahoo, Sampa
Author_Institution :
Dept. of Electr. Eng., Padmanava Coll. of Eng., Rourkela, India
Abstract :
An autonomous mobile robot is a robot which can move and act autonomously without the help of human assistance. Navigation problem of mobile robot in unknown environment is an interesting research area. This is a problem of deducing a path for the robot from its initial position to a given goal position without collision with the obstacles. Different methods such as fuzzy logic, neural networks etc. are used to find collision free path for mobile robot. This paper examines behavior of path planning of mobile robot using three activation functions of wavelet neural network i.e. Mexican Hat, Gaussian and Morlet wavelet functions by MATLAB. The simulation results shows that WNN has faster convergence as well as learning speed with respect to traditional artificial neural network.
Keywords :
Gaussian processes; collision avoidance; fuzzy control; mobile robots; neurocontrollers; robot kinematics; wavelet neural nets; Gaussian wavelet function; Matlab; Mexican Hat wavelet function; Morlet wavelet function; WNN; activation functions; artificial neural network; autonomous mobile robot navigation; collision avoidance; collision free path planning; convergence; fuzzy logic; goal position; learning speed; neural networks; unknown environment; wavelet neural network; Collision avoidance; Mobile robots; Navigation; Neural networks; Training; Wheels; Activation functions; Autonomous mobile robot; obstacle avoidance; path planning; wavelet neural network;
Conference_Titel :
Convergence of Technology (I2CT), 2014 International Conference for
Print_ISBN :
978-1-4799-3758-5
DOI :
10.1109/I2CT.2014.7092044
