Modular weightless neural network architecture for intelligent navigation

Abstract

The standard multi layer perceptron neural network (MLPNN) type has various drawbacks, one of which is training requires repeated presentation of training data, which often results in very long learning time. An alternative type of network, almost unique, is the Weightless Neural Network (WNNs) this is also called n-tuple networks or RAM based networks. In contrast to the weighted neural models, there are several one-shot learning algorithms for WNNs where training takes only one epoch. This paper describes WNNs for recognizes and classifies the environment in mobile robot using a simple microprocessor system. We use a look-up table to minimize the execution time, and that output stored into the robot RAM memory and becomes the current controller that drives the robot. This functionality is demonstrated on a mobile robot using a simple, 8 bit microcontroller with 512 bytes of RAM. The WNNs approach is code efficient only 500 bytes of source code, works well, and the robot was able to successfully recognize the obstacle in real time