Mobile Robot Obstacle Avoidance Based on Neural Network with a Standardization Technique

Table 8

ANN training results using the backpropagation algorithm.

MATLAB—nntool
Activation function	Hidden layer	Sigmoid LOGSIG	Performance (MSE)	69.1268
	Output layer	Linear PURELN
Training algorithm		TRAINBR	Iteration	7594
Number of neurons		120	Regression	0.98664
Number of epochs		1000000	Training time	68 : 22 : 13