OATAO - Open Archive Toulouse Archive Ouverte Open Access Week

A Neural Network Strategy Applied in Autonomous Mobile Localization

Scolari Conceição, André and Ponzoni Carvalho Chanel, Caroline and Rath Rohr, Eduardo and Porath, Daniel and Eckhard, Diego and Alves Pereira, Luis Fernando A Neural Network Strategy Applied in Autonomous Mobile Localization. (2009) In: European Control Conference - ECC'2009, 23 August 2009 - 26 August 2009 (Budapest, Hungary).

(Document in English)

PDF (Author's version) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader


In this article, a new approach to the problem of indoor navigation based on ultrasonic sensors is presented, where artificial neural networks (ANN) are used to estimate the position and orientation of a mobile robot.
This approach proposes the use of three Radial Basis Function (RBF) Networks, where environment maps from an ultrasonic sensor and maps synthetically generated are used to estimate the robot localization.
The mobile robot is mainly characterized by its real time
operation based on the Matlab/Simulink environment, where the
whole necessary tasks for an autonomous navigation are done in a hierarchical and easy reprogramming way. 
Finally, practical results of real time navigation related to robot localization in a known indoor environment are shown.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > Universidade Federal do Rio Grande do Sul - UFRGS (BRAZIL)
Other partners > Universidade Federal da Bahia - UFBA (BRAZIL)
Other partners > University of Newcastle - UoN (AUSTRALIA)
Laboratory name:
Deposited On:17 Jun 2014 15:22

Repository Staff Only: item control page