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IJIT
2004

Mobile Robot Navigation Using Local Model Networks

10 years 1 months ago
Mobile Robot Navigation Using Local Model Networks
Developing techniques for mobile robot navigation constitutes one of the major trends in the current research on mobile robotics. This paper develops a local model network (LMN) for mobile robot navigation. The LMN represents the mobile robot by a set of locally valid submodels that are Multi-Layer Perceptrons (MLPs). Training these submodels employs Back Propagation (BP) algorithm. The paper proposes the fuzzy C-means (FCM) in this scheme to divide the input space to sub regions, and then a submodel (MLP) is identified to represent a particular region. The submodels then are combined in a unified structure. In run time phase, Radial Basis Functions (RBFs) are employed as windows for the activated submodels. This proposed structure overcomes the problem of changing operating regions of mobile robots. Read data are used in all experiments. Results for mobile robot navigation using the proposed LMN reflect the soundness of the proposed scheme.
Hamdi A. Awad, Mohamed A. Al-Zorkany
Added 31 Oct 2010
Updated 31 Oct 2010
Type Conference
Year 2004
Where IJIT
Authors Hamdi A. Awad, Mohamed A. Al-Zorkany
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