Abstract:
Abstract- This paper is concerned with the Fuzzy-ARTMAP neural network application to qualitative pose estimation of a mobile robot equipped with ultrasonic range sensors. The network is trained under supervision to associate sensory readouts with topological classes of vehicle's poses in front of a certain characteristic object. The system, examined on a real world data of a door neighborhood region, reveals satisfactory performance for door passing tasks, but appears to be inadequate for fine positioning. The proposed method of localization is general enough to be efficiently applied in various environments containing natural, geometrical beacons. 1.
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