Vision-Based Low-Level Navigation using a Feed-Forward Neural Network

  title={Vision-Based Low-Level Navigation using a Feed-Forward Neural Network},
  author={Magnus Jonsson and Per-Arne Wiberg and Nicholas Wickstr{\"o}m and Nicholas. Wickstrom},
In this paper we propose a simple method for low-level navigation for autonomous mobile robots, employing an artifi cial neural network. Both corr idor following and obstacle avoidance in indoor environments are managed by the same network. Raw grayscale images of size 32 × 23 pixels are processed one at a time by a feed-forward neural network. The output signals from the network directly control the motor control system of the robot. The feed-forward network is trained using the RPROP… CONTINUE READING


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