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Vision-based low-level navigation using a feed-forward neural network
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), Centre for Research on Embedded Systems (CERES).ORCID iD: 0000-0002-6526-3931
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), Centre for Research on Embedded Systems (CERES).
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.
1997 (English)In: Proc. International Workshop on Mechatronical Computer Systems for Perception and Action (MCPA'97), Pisa, Italy, Feb. 10-12, 1997, 105-111 p.Conference paper, (Refereed)
Abstract [en]

In this paper we propose a simple method for low-level navigation for autonomous mobile robots, employing an artificial neural network. Both corridor following and obstacle avoidance in indoor environments are managed by the same network. Raw grayscale images of size 32 x 23 pixels are processed one at a time by a feed-forward neural network. The output signals from the network directly control the motor control system of the robot. The feed-forward network is trained using the RPROP algorithm. Experiments in both familiar and unfamiliar environments are reported.

Place, publisher, year, edition, pages
1997. 105-111 p.
Keyword [en]
Robotics, Autonomous robots
National Category
Computer Engineering
Identifiers
URN: urn:nbn:se:hh:diva-2755Local ID: 2082/3157OAI: oai:DiVA.org:hh-2755DiVA: diva2:239973
Conference
International Workshop on Mechatronical Computer Systems for Perception and Action (MCPA'97), Pisa, Italy, Feb. 10-12, 1997
Available from: 2009-08-13 Created: 2009-08-13 Last updated: 2016-03-16Bibliographically approved

Open Access in DiVA

fulltext(438 kB)468 downloads
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Type fulltextMimetype application/pdf

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Jonsson, MagnusWiberg, Per-ArneWickström, Nicholas
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf