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