Presentation Transcript
NEURAL NETWORK BASED ROBOT NAVIGATOR : NEURAL NETWORK BASED ROBOT NAVIGATOR BY,
S.CHANDRASEKARAN
H.JAIDEV
S.KARTHIK
OBJECTIVE : OBJECTIVE To navigate from one place to another by avoiding the obstacles automatically without any human intervention
ANN : ANN A system Loosely modeled on human brain.
Supervised learning.
Needs both predictor and target variables
The goal is to achieve the desired target.
Unsupervised Learning.
All variables are same.
The goal is to look for patterns, clusters.
MLFN DIAGRAM : MLFN DIAGRAM
LAYERS OF MLFN : LAYERS OF MLFN Input layer
Predictor variables.
Hidden layer
Values are multiplied by weights.
Output layer
Values are weighed and summed.
TRAINING MLFN : TRAINING MLFN • Selecting how many hidden layers to use in the network.
• Deciding how many neurons to use in each hidden layer.
• Finding a globally optimal solution that avoids local minima.
• Converging to an optimal solution in a reasonable period of time.
• Validating the neural network to test for over fitting.
BASIC BLOCK DIAGRAM : BASIC BLOCK DIAGRAM
AT89C51 : AT89C51 40 Pins with 32 pins for parallel ports.
Extendable Memory, 4 parallel ports.
4 kb of ROM 128 bytes of RAM
32 I/O Address lines, 16 Interrupts.
4V to 6V Operating range.
HARDWARE DETAILS : HARDWARE DETAILS Astable Multi vibrator generates square waves at 38.5 kHz.
R = 370 k ohm, C = 100 pF.
THEORY OF OPERATION : THEORY OF OPERATION Non linear output from detectors.
Angle varies with distance and hence voltage.
IR TRANSMITTER AND RECEIVER : IR TRANSMITTER AND RECEIVER From
Multivibrator IR transmitter IR Receiver
TYPE OF LEVELS : TYPE OF LEVELS
System level
Application level
Function level
Various Response Function : Various Response Function
Jump Function
Threshold
Hyperbolic Tangent
Logistic Function
COMPARISIONBETWEEN ALGORITHM : COMPARISION BETWEEN ALGORITHM
Goal Seeking Neuron : Goal Seeking Neuron
Behavior Level
Flexibility
Decision making
Response time
GSN MODULE : GSN MODULE
Boolean Expression Using GSN : Boolean Expression Using GSN
Error vs Distance : Error vs Distance
CHEMOTAXIS : CHEMOTAX I S
Slide20 :
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