Research Article
Mobile Robot Obstacle Avoidance Based on Neural Network with a Standardization Technique
Table 9
Results from training datasets using MATLAB based on the methods of data standardization.
| Training after stand.—nntool |
| Activation function | Hidden layer | Sigmoid LOGSIG | Performance (MSE) | 0.00178 | Output layer | Linear PURELN | Training algorithm | TRAINBR | Iteration | 1445 | Number of neurons | 120 | Regression | 0.98884 | Number of epochs | 1000000 | Training time | 6 : 22 : 05 |
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