Corridor-scene classifying methods for mobile robot based on multi-sonar-sensor information fusion
Xiuqing Wang; Zeng-Guang Hou; Long Cheng; Min Tan; Fei Zhu
发表期刊International Journal of Information Acquisition
2007
卷号4期号:1页码:15-26
摘要The ability of cognition and recognition for complex environment is very important for a real autonomous robot. A new scene analysis method using kernel principal component analysis (kernel-PCA) for mobile robot based on multi-sonar-ranger data fusion is put forward. The principle of classification by principal component analysis (PCA), kernel-PCA, and the BP neural network (NN) approach to extract the eigenvectors which have the largest k eigenvalues are introduced briefly. Next the details of PCA, kernel-PCA and the BP NN method applied in the corridor scene analysis and classification for the mobile robots based on sonar data are discussed and the experimental results of those methods are given. In addition, a corridor-scene-classifier based on BP NN is discussed. The experimental results using PCA, kernel-PCA and the methods based on BP neural networks (NNs) are compared and the robustness of those methods are also analyzed. Such conclusions are drawn: in corridor scene classification, the kernel-PCA method has advantage over the ordinary PCA, and the approaches based on BP NNs can also get satisfactory results. The robustness of kernel-PCA is better than that of the methods based on BP NNs.
关键词Sonar PCA kernel PCA mobile robot classification
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/23175
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Xiuqing Wang,Zeng-Guang Hou,Long Cheng,et al. Corridor-scene classifying methods for mobile robot based on multi-sonar-sensor information fusion[J]. International Journal of Information Acquisition,2007,4(1):15-26.
APA Xiuqing Wang,Zeng-Guang Hou,Long Cheng,Min Tan,&Fei Zhu.(2007).Corridor-scene classifying methods for mobile robot based on multi-sonar-sensor information fusion.International Journal of Information Acquisition,4(1),15-26.
MLA Xiuqing Wang,et al."Corridor-scene classifying methods for mobile robot based on multi-sonar-sensor information fusion".International Journal of Information Acquisition 4.1(2007):15-26.
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