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Neural Network (MLP) Robot Localization

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Simulation of neural robot localization using a Multi-Layer Perceptron Network.

plotArrow(h,x,y,theta)
function void = plotArrow(h,x,y,theta)

%axes
p = rotate(1.3,0,theta) + [x y];
plot(h,[x p(1)], [y p(2)], '-m');

p = rotate(0,1.3,theta) + [x y];
plot(h,[x p(1)], [y p(2)], '-m');

%arrow in x-axis
p1 = rotate(1.3,0,theta) + [x y];
p2 = rotate(1.3-0.2,0.1,theta) + [x y];

plot(h,[p1(1) p2(1)], [p1(2) p2(2)], '-m');

p1 = rotate(1.3,0,theta) + [x y];
p2 = rotate(1.3-0.2,-0.1,theta) + [x y];
plot(h,[p1(1) p2(1)], [p1(2) p2(2)], '-m');

%arrow y-axis
p1 = rotate(0,1.3,theta) + [x y];
p2 = rotate(-0.1,1.3-0.2,theta) + [x y];

plot(h,[p1(1) p2(1)], [p1(2) p2(2)], '-m');

p1 = rotate(0,1.3,theta) + [x y];
p2 = rotate(0.1,1.3-0.2,theta) + [x y];
plot(h,[p1(1) p2(1)], [p1(2) p2(2)], '-m');

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