Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
In Defense of One-Vs-All Classification
The Journal of Machine Learning Research
An introduction to ROC analysis
Pattern Recognition Letters - Special issue: ROC analysis in pattern recognition
Geometric Mean for Subspace Selection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Optimization of SVM Parameters Based on PSO Algorithm
ICNC '09 Proceedings of the 2009 Fifth International Conference on Natural Computation - Volume 01
A Stochastic Perturbing Particle Swarm Optimization Model
GCIS '10 Proceedings of the 2010 Second WRI Global Congress on Intelligent Systems - Volume 01
LIBSVM: A library for support vector machines
ACM Transactions on Intelligent Systems and Technology (TIST)
Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot
IEEE Transactions on Robotics
Subspaces Indexing Model on Grassmann Manifold for Image Search
IEEE Transactions on Image Processing
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In this paper, we study the parameter setting for a set of intelligent multi-category classifiers in wall-following robot navigation. Based on the swarm optimization theory, a particle selecting approach is proposed to search for the optimal parameters, a key property of this set of multi-category classifiers. By utilizing the particle swarm search, it is able to obtain higher classification accuracy with significant savings on the training time compared to the conventional grid search. For wall-following robot navigation, the best accuracy (98.8%) is achieved by the particle swarm search with only 1/4 of the training time by the grid search. Through communicating the social information available in particle swarms in the training process, classification-based learning can achieve higher classification accuracy without prematurity. One of such learning classifiers has been implemented in SIAT mobile robot. Experimental results validate the proposed search scheme for optimal parameter settings.