Comparison of optical modeling and neural networks for robot guidance

Sameer Parasnis; Sasanka Velidandla; Ernest L. Hall; Sam Anand

doi:10.1117/12.325802

6 October 1998 Comparison of optical modeling and neural networks for robot guidance

Sameer Parasnis; Sasanka Velidandla; Ernest L. Hall; Sam Anand;

Author Affiliations +

Proceedings Volume 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision; (1998) https://doi.org/10.1117/12.325802
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

A truly autonomous robot must sense its environment and react appropriately. These issues attain greater importance in an outdoor, variable environment. Previous mobile robot perception systems have relied on hand-coded algorithms for processing sensor information. Recent techniques involve the use of artificial neural networks to process sensor data for mobile robot guidance. A comparison of a fuzzy logic control for an AGV and a neural network perception is described in this work. A mobile robot test bed has been constructed using a golf cart base. The test bed has a fuzzy logic controller which uses both vision and obstacle information and provides the steering and speed controls to the robot. A feed-forward neural network is described to guide the robot using vision and range data. Suitable criteria for comparison will be formulated and the hand-coded system compared with a connectionist model. A comparison of the two systems, with performance, efficiency and reliability as the criteria, will be achieved. The significance of this work is that it provides comparative tradeoffs on two important robot guidance methods.

Citation Download Citation

Sameer Parasnis, Sasanka Velidandla, Ernest L. Hall, Sam Anand, "Comparison of optical modeling and neural networks for robot guidance", Proc. SPIE 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, (6 October 1998); doi: 10.1117/12.325802; https://doi.org/10.1117/12.325802

ACCESS THE FULL ARTICLE

PERSONAL SIGN IN
Full access may be available with your subscription

Email or Username Forgot your username?

Password Forgot your password?

Show

Remember Email/Username on this computer

Remember Password

No SPIE account? Create an account
or Institutional Sign In via Shibboleth

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $14.40

Non-members: $18.00 ADD TO CART

Show All Keywords

Keywords/Phrases

Search In:

Publication Years