Controlling a Small Mobile 3-Pi Robot Movement in a Maze Via the Neural Network Using Back-Propagation Learning Method

Abstract

The contribution is focused on technical implementation of controlling a small mobile 3Pi robot in a maze along a predefined guide line where the control of the acquired direction of the robot’s movement was provided by a neural network. The weights (memory) of the neuron were calculated using a feedforward neural network learning via the Back-propagation method. This article fastens on the paper by the title “Movement control of a small mobile 3-pi robot in a maze using artificial neural network”, where Hebbian learning was used for a single-layer neural network. The reflectance infra-red sensors performed as input sensors. The result of this research is the evaluation based on the experiments that served to compare different training sets with the learning methods when moving a mobile robot in a maze.