Estimation of position of a mobile robot using a neural net

C. S. Berger, L. Kleeman

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

Abstract

An active beacon localization system is developed for estimating the position of a mobile robot. Six beacons transmit a pattern of ultrasonic pulses. A receiver on the robot logs the arrival times of the pulses. This information is used to train a new single stage neural network (the cerebellar model with interpolation, or CEINT) to track the robot position. This network converges rapidly and has modest storage requirements. Its performance over the test set shows that a more extensive training data set would yield improved performance. This underlines the main disadvantage of using neural nets, i.e., their performance depends on the properties of the training set.

Original languageEnglish
Title of host publicationTENCON 1992 - Technology Enabling Tomorrow
Subtitle of host publicationComputers, Communications and Automation towards the 21st Century - 1992 IEEE Region 10 International Conference
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages468-472
Number of pages5
ISBN (Electronic)0780308492
DOIs
Publication statusPublished - 1 Jan 1992
Event1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century, TENCON 1992 - Melbourne, Australia
Duration: 11 Nov 199213 Nov 1992

Publication series

NameIEEE Region 10 Annual International Conference, Proceedings/TENCON
ISSN (Print)2159-3442
ISSN (Electronic)2159-3450

Conference

Conference1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century, TENCON 1992
CountryAustralia
CityMelbourne
Period11/11/9213/11/92

Cite this

Berger, C. S., & Kleeman, L. (1992). Estimation of position of a mobile robot using a neural net. In TENCON 1992 - Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century - 1992 IEEE Region 10 International Conference (pp. 468-472). [271901] (IEEE Region 10 Annual International Conference, Proceedings/TENCON). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/TENCON.1992.271901