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  • Microcontroller Implementation of Neural Network Based Hurdle Avoidance Controller For A Car-Like Robot

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    anton_surendar
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    The document describes a neural network-based hurdle avoidance controller for an autonomous car-like robot. The controller uses two multilayer feedforward neural networks - a hurdle avoidance controller and goal reaching controller - trained with backpropagation to navigate complex outdoor environments without collisions while reaching set targets. Both neural networks are implemented on low-cost microcontrollers using a piecewise linear approximation of the neural activation function to reduce computational burden. The robot with this proposed controller configuration successfully navigated outdoor environments and reached its targets.

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    The document describes a neural network-based hurdle avoidance controller for an autonomous car-like robot. The controller uses two multilayer feedforward neural networks - a hurdle avoidance controller and goal reaching controller - trained with backpropagation to navigate complex outdoor environments without collisions while reaching set targets. Both neural networks are implemented on low-cost microcontrollers using a piecewise linear approximation of the neural activation function to reduce computational burden. The robot with this proposed controller configuration successfully navigated outdoor environments and reached its targets.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOCX, PDF, TXT or read online from Scribd
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    9 views1 page

    Microcontroller Implementation of Neural Network Based Hurdle Avoidance Controller For A Car-Like Robot

    Uploaded by

    anton_surendar
    The document describes a neural network-based hurdle avoidance controller for an autonomous car-like robot. The controller uses two multilayer feedforward neural networks - a hurdle avoidance controller and goal reaching controller - trained with backpropagation to navigate complex outdoor environments without collisions while reaching set targets. Both neural networks are implemented on low-cost microcontrollers using a piecewise linear approximation of the neural activation function to reduce computational burden. The robot with this proposed controller configuration successfully navigated outdoor environments and reached its targets.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
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    Microcontroller Implementation Of Neural Network Based Hurdle Avoidance Controller For A Car-Like Robot

    Abstract
    Aim of our paper is to save human life from the highway accidents by the use of automation. In this paper, design of an intelligent autonomous vehicle is presented that can navigate in noisy and unknown environments without hitting the obstacles in its way. The vehicle is made intelligent with the help of two multilayer feed forward neural network controllers namely Hurdle Avoidance Controller and Goal Reaching Controller with back error propagation as training algorithm. Hurdle avoidance controller ensures collision free motion of mobile robot while goal reaching controller helps the mobile robot in reaching the destination. Both these controllers are trained offline with the data obtained during experimental run of the robot and implemented with low cost Pic microcontrollers. The computational burden on microcontrollers is reduced by using piecewise linearly approximated version of tangent-sigmoid activation function of neurons. The vehicle with the proposed controllers is tested in outdoor complex environments and is found to reach the set targets successfully.

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