Global sonar localization in a dynamic environment using preprocessed feedforward neural network
This paper presents a robust global localization method using Artificial Neural Network ( ANN) to learn sonar sensor patterns associated to points in a specified area. Given a set of unseen sonar sensor readings, the ANN is capable of predicting the corresponding point in the map accurately even wit...
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| Format: | Article |
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IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG
2008
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| Online Access: | http://shdl.mmu.edu.my/2772/ |
| _version_ | 1848790145689452544 |
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| author | Lim, W. S. Yeo, W. K. Wa, Y. K. |
| author_facet | Lim, W. S. Yeo, W. K. Wa, Y. K. |
| author_sort | Lim, W. S. |
| building | MMU Institutional Repository |
| collection | Online Access |
| description | This paper presents a robust global localization method using Artificial Neural Network ( ANN) to learn sonar sensor patterns associated to points in a specified area. Given a set of unseen sonar sensor readings, the ANN is capable of predicting the corresponding point in the map accurately even with the presence of small random noises. This technique can also be extended into the dynamic environment by simply cascading two ANN and incorporating a suitable filtering algorithm ( FA) for preprocessing data purposes. Thereafter, after filtering out the corrupted components based on the information disseminate from the FA module, a FeedForward Network ( FFN) is used to make the prediction after training with sufficient filtered epochs. |
| first_indexed | 2025-11-14T18:07:58Z |
| format | Article |
| id | mmu-2772 |
| institution | Multimedia University |
| institution_category | Local University |
| last_indexed | 2025-11-14T18:07:58Z |
| publishDate | 2008 |
| publisher | IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | mmu-27722011-09-14T03:13:08Z http://shdl.mmu.edu.my/2772/ Global sonar localization in a dynamic environment using preprocessed feedforward neural network Lim, W. S. Yeo, W. K. Wa, Y. K. T Technology (General) QA75.5-76.95 Electronic computers. Computer science This paper presents a robust global localization method using Artificial Neural Network ( ANN) to learn sonar sensor patterns associated to points in a specified area. Given a set of unseen sonar sensor readings, the ANN is capable of predicting the corresponding point in the map accurately even with the presence of small random noises. This technique can also be extended into the dynamic environment by simply cascading two ANN and incorporating a suitable filtering algorithm ( FA) for preprocessing data purposes. Thereafter, after filtering out the corrupted components based on the information disseminate from the FA module, a FeedForward Network ( FFN) is used to make the prediction after training with sufficient filtered epochs. IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG 2008-01 Article NonPeerReviewed Lim, W. S. and Yeo, W. K. and Wa, Y. K. (2008) Global sonar localization in a dynamic environment using preprocessed feedforward neural network. IEICE Electronics Express, 5 (1). pp. 17-22. ISSN 1349-2543 http://dx.doi.org/10.1587/elex.5.17 doi:10.1587/elex.5.17 doi:10.1587/elex.5.17 |
| spellingShingle | T Technology (General) QA75.5-76.95 Electronic computers. Computer science Lim, W. S. Yeo, W. K. Wa, Y. K. Global sonar localization in a dynamic environment using preprocessed feedforward neural network |
| title | Global sonar localization in a dynamic environment using preprocessed feedforward neural network |
| title_full | Global sonar localization in a dynamic environment using preprocessed feedforward neural network |
| title_fullStr | Global sonar localization in a dynamic environment using preprocessed feedforward neural network |
| title_full_unstemmed | Global sonar localization in a dynamic environment using preprocessed feedforward neural network |
| title_short | Global sonar localization in a dynamic environment using preprocessed feedforward neural network |
| title_sort | global sonar localization in a dynamic environment using preprocessed feedforward neural network |
| topic | T Technology (General) QA75.5-76.95 Electronic computers. Computer science |
| url | http://shdl.mmu.edu.my/2772/ http://shdl.mmu.edu.my/2772/ http://shdl.mmu.edu.my/2772/ |