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

Table 7

Situations on the real environment.

Different positions of goal	Inputs								Output to the servo motor (°)
	From the ultrasonic sensor						From the IP camera
	US 1	US 2	US 3	US 4	US 5	US 6	Goal location	Goal angle (°)
A	2	0	2	1	0	0	0	15	45
B	2	0	2	1	0	0	0	45	45
C	2	0	2	1	0	0	0	75	45
D	2	0	2	1	0	0	2	105	135
E	2	0	2	1	0	0	2	135	135
F	2	0	2	1	0	0	0	165	165