Artificial neural network for mobile robot topological localization

✍ Scribed by Janusz Racz; Artur Dubrawski

• Publisher: Elsevier Science
• Year: 1995
• Tongue: English
• Weight: 613 KB
• Volume: 16
• Category: Article
• ISSN: 0921-8890
• DOI: 10.1016/0921-8890(95)00035-e

✦ Synopsis

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.