Figures index

From

An ANN Based NARX GPS/DR System for Mobile Robot Positioning and Obstacle Avoidance

Ramazan Akkaya, Omer Aydogdu, Suleyman Canan

Journal of Automation and Control. 2013, 1(1), 6-13 doi:10.12691/automation-1-1-2
  • Figure 1. (a) Mobile robot in an experimental work (b) back view (c) lateral view
  • Figure 2. Sensors data gathering hardware structure
  • Figure 3. The mobile robot coordinates
  • Figure 4. Basic artificial neuron model
  • Figure 5. ANN NARX model
  • Figure 6. Theoretical reference training trajectory
  • Figure 7. Experimental reference with GPS and ANN NARX predicted trajectory
  • Figure 8. RMS position errors along the predicted reference trajectory
  • Figure 9. East (a) and north (b) errors along the predicted reference trajectory
  • Figure 10. GPS and ANN NARX predicted test trajectory
  • Figure 11. East (a) and north (b) errors in the predicted test trajectory
  • Figure 12. RMS position errors along the predicted test trajectory
  • Figure 13. ANN predictor and GPS system
  • Figure 14. GPS and GPS aided ANN NARX predicted test trajectory
  • Figure 15. GPS aided RMS position errors along the predicted test trajectory
  • Figure 16. East (a) and north (b) errors in the predicted test trajectory
  • Figure 17. Desired mobile robot trajectory and path around an obstacle