Environment modeling of AS-R robot based on BP Neural Network
There are some limitations when environment model of AS-R mobile robot is obtained by only using a separate CCD camera or ultrasonic sensor array. The BP neural network is designed to fuse information of the two sensors to obtain the robots environment model in this paper. The input of BP neural network is the intercept and slope of the edge line obtained CCD camera and ultrasonic sensor arrays, which is processed by through the global coordinates of coordinate transformation. The output of BP network is the fused intercept and slope of the straight edge. Experiment shows that environment model is feasible for the AS-R mobile robot and the environment modeling method has more reliability and accuracy.
BP neural network AS-R robot Environmental Modeling CCD camera Ultrasonic sensor array
XIE Mu-jun Yu Xue-lin WANG Zhi-qian
School of Electrical & Electronic Engineering Changchun University of Technology Changchun, China Department of optics-electronics measure and control Changchun Institute of Optics, Fine Mechanics a
国际会议
长春
英文
282-284
2010-08-24（万方平台首次上网日期，不代表论文的发表时间）