Neural Behavior Chain Learning of Mobile Robot Actions

Table 3

Results of error by different neural network training.

𝐿	𝑁𝑛	𝑀ne	𝐿𝑟	Error test (MSE)		Error; predict (MSE)		RMS
				𝐸𝑑	𝐸𝛼	EP𝑑	EP𝛼
1	10	500	0.001	7.74	7.77	3.29	4.55	4.00
1	10	1000	0.001	5.18	8.48	2.45	4.44	3.76
1	20	500	0.01	5.57	10.5	7.13	3.11	4.07
1	30	500	0.001	38.13	13.6	29.7	8.88	7.30
2	30	500	0.001	5.99	8.65	4.20	14.43	3.89
2	20	500	0.01	5.01	7.77	2.43	4.63	3.63
2	20	1000	0.01	7.57	8.07	3.57	4.43	4.02
2	30	500	0.1	8.52	8.93	4.79	4.30	4.25
2	20	1500	0.1	8.86	736	3.04	4.43	3.80
2	30	1500	0.01	17.62	10.6	3.06	4.30	5.40