By Topic

Sonar-based feature recognition and robot navigation using a neural network

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
P. Goel ; Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA ; G. S. Sukhatme

An efficient strategy based on an artificial neural network is presented to enable a mobile robot to move autonomously and build a rough map of its environment. The paper describes a technique based on a neural network which uses data from sonars to recognize features online. Our method is systematic, simple and yields very good results. Moreover, it is generalizable in the sense that one can train the robot to recognize particular features of interest. We have implemented and tested this technique successfully on-board a mobile robot which uses a 68332 processor and does not have support for floating point arithmetic and file structure. Once trained, the robot can recognize the features on the fly and react to them appropriately

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

2000