Naslov
Neural network controller for mobile robot motion control

Autori
Velagic, Jasmin ; Osmic, Nedim ; Lacevic, Bakir

Izvornik
International Journal of Intelligent Systems and Technologies, WASET, 47, 193-198

Vrsta, podvrsta
Ostale vrste radova, članak

Godina
2008

Ključne riječi
Mobile robot ; kinematic model ; neural network ; motion control ; adaptive learning rate

Sažetak
In this paper the neural network-based controller is designed for motion control of a mobile robot. This paper treats the problems of trajectory following and posture stabilization of the mobile robot with nonholonomic constraints. For this purpose the recurrent neural network with one hidden layer is used. It learns relationship between linear velocities and error positions of the mobile robot. This neural network is trained on-line using the backpropagation optimization algorithm with an adaptive learning rate. The optimization algorithm is performed at each sample time to compute the optimal control inputs. The performance of the proposed system is investigated using a kinematic model of the mobile robot.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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