An Architecture of Hybrid Neural Network Based Navigation System for Mobile Robot

2007 ◽  
Author(s):  
Andrev V. Gavrilov ◽  
Sungyoung Lee
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Navigation System ◽  
Hybrid Neural Network

scholarly journals Semantic Segmentation to Develop an Indoor Navigation System for an Autonomous Mobile Robot

Mathematics ◽  
2020 ◽  
Vol 8 (5) ◽  
pp. 855
Author(s):  
Daniel Teso-Fz-Betoño ◽  
Ekaitz Zulueta ◽  
Ander Sánchez-Chica ◽  
Unai Fernandez-Gamiz ◽  
Aitor Saenz-Aguirre
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Navigation System ◽  
Reaction Times ◽  
Semantic Segmentation ◽  
Indoor Navigation ◽  
Autonomous Mobile Robot ◽  
The Neural Network ◽  
Indoor Navigation System ◽  
Real Scenario

In this study, a semantic segmentation network is presented to develop an indoor navigation system for a mobile robot. Semantic segmentation can be applied by adopting different techniques, such as a convolutional neural network (CNN). However, in the present work, a residual neural network is implemented by engaging in ResNet-18 transfer learning to distinguish between the floor, which is the navigation free space, and the walls, which are the obstacles. After the learning process, the semantic segmentation floor mask is used to implement indoor navigation and motion calculations for the autonomous mobile robot. This motion calculations are based on how much the estimated path differs from the center vertical line. The highest point is used to move the motors toward that direction. In this way, the robot can move in a real scenario by avoiding different obstacles. Finally, the results are collected by analyzing the motor duty cycle and the neural network execution time to review the robot’s performance. Moreover, a different net comparison is made to determine other architectures’ reaction times and accuracy values.

Indoor Navigation System of Omni-Directional Mobile Robot Based on Static Obstacles Avoidance

2020 ◽  
Vol 13 (1) ◽  
pp. 27
Author(s):  
Shaaban Ali Salman ◽  
Qais A. Khasawneh ◽  
Mohammad A. Jaradat ◽  
Mansour Y. Alramlawi
Keyword(s):  
Mobile Robot ◽  
Navigation System ◽  
Indoor Navigation ◽  
Indoor Navigation System
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