文章基本信息

标题：A New Classification Technique in Mobile Robot Navigation
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作者：Siti Nurmaini ; Bambang Tutuko
期刊名称：TELKOMNIKA (Telecommunication Computing Electronics and Control)
印刷版ISSN：2302-9293
出版年度：2011
卷号：9
期号：3
页码：453-464
DOI：10.12928/telkomnika.v9i3.736
语种：English
出版社：Universitas Ahmad Dahlan
摘要：This paper presents a novel pattern recognition algorithm that use weightless neural network (WNNs) technique.This technique plays a role of situation classifier to judge the situation around the mobile robot environment and makes control decision in mobile robot navigation. The WNNs technique is choosen due to significant advantages over conventional neural network, such as they can be easily implemented in hardware using standard RAM, faster in training phase and work with small resources. Using a simple classification algorithm, the similar data will be grouped with each other and it will be possible to attach similar data classes to specific local areas in the mobile robot environment. This strategy is demonstrated in simple mobile robot powered by low cost microcontrollers with 512 bytes of RAM and low cost sensors. Experimental result shows, when number of neuron increases t he average environmental recognition ratehas risen from 87.6% to 98.5%. The WNNs technique allows the mobile robot to recognize many and different environmental patterns and avoid obstacles in real time. Moreover, by using proposed WNNstechnique mobile robot has successfully reached the goal in dynamic environment compare to fuzzy logic technique and logic function, capable of dealing with uncertainty in sensor reading, achieving good performance in performing control actions with 0.56% error rate in mobile robot speed.