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BP Neural Network Based Localization for a Front-Wheel Drive and Differential Steering Mobile Robot

文献类型： 外文期刊

作者： Jia, Shiwei 1 ; Qiu, Quan 1 ; Li, Junmin 3 ; Li, You 1 ; Cong, Yue 1 ;

作者机构： 1.Beijing Acad Agr & Forest Sci, Beijing 100097, Peoples R China

2.Beijing Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

3.XiHua Univ, Mech Engn & Automat Coll, Chengdu 610039, Peoples R China

关键词： mobile robot;BP neural network;localization

期刊名称：2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION

ISSN：

年卷期： 2015 年

页码：

收录情况： SCI

摘要： This paper presents a new BP-neural-network-based localization algorithm for a wheeled agricultural mobile robot, which is front-wheel drive and differential steering. Training the BP neural network is the first step of the localization algorithm. During this process, the drive pulse number is regarded as the input; the length of the left or right wheel's trajectory is regarded as the output; and Bayesian rule is used to generate the training function. Inducing the displacement of the robot's geometric center is the second step, in which the trajectories of the left and right wheels are assumed as two concentric circular arces. In the contrast experiments with the least square localization algorithm, the new proposed BP-neural-network based algorithm shows high accuracy and feasibility.

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