A neural network strategy applied in autonomous mobile localization

In this article, a new approach to the problem of indoor navigation based on ultrasonic sensors is presented, where artificial neural networks (ANN) are used to estimate the position and orientation of a mobile robot. This approach proposes the use of three Radial Basis Function (RBF) Networks, where environment maps from an ultrasonic sensor and maps synthetically generated are used to estimate the robot localization. The mobile robot is mainly characterized by its real time operation based on the Matlab/Simulink environment, where the whole necessary tasks for an autonomous navigation are done in a hierarchical and easy reprogramming way. Finally, practical results of real time navigation related to robot localization in a known indoor environment are shown.