Pregled bibliografske jedinice broj: 88078
Neural Network in the Autonomous Mobile Robot Path Tracking Control
Neural Network in the Autonomous Mobile Robot Path Tracking Control // Proceedings of the 12th International DAAAM Symposium / Katalinic, Branko (ur.).
Beč: DAAAM International Vienna, 2001. str. 223-224 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
Neural Network in the Autonomous Mobile Robot Path Tracking Control
Autori
Kirola, Marijo ; Brezak, Danko ; Majetić, Dubravko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the 12th International DAAAM Symposium
/ Katalinic, Branko - Beč : DAAAM International Vienna, 2001, 223-224
Skup
12th International DAAAM Symposium "Intelligent Manufacturing & Automation: Focus on Precision Engineering"
Mjesto i datum
Jena, Njemačka, 24.10.2001. - 27.10.2001
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Autonomous mobile robot; Path tracking control; Time-Discrete Static-Feedforward Neural Network; Radial Basis Function; Modified learning method
Sažetak
This paper presents implementation of a non-linear PD-controller for autonomous mobile robot path tracking control by a neural network (NN) in a real-time working environment instead of using classical form of the same type of controller. Controller-guided torque (turning moment) on two independent robot wheels insure movement of robot in unorganized surroundings. Two types of static-feedforward one learning step neural networks (Time-Discrete Static-Feedforward Neural Network and Radial Basic Function Neural Network with modified learning algorithm) were used and test results were presented and compared.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
