Neural networks based control of mobile robots: Development and experimental validation

被引：26

作者：

Corradini, ML

Ippoliti, G

Longhi, S

机构：

[1] Univ Politecn Marche, Dipartimento Elettron & Automat, I-60131 Ancona, Italy

[2] Univ Lecce, Dipartimento Ingn Innovaz, I-73100 Lecce, Italy

来源：

JOURNAL OF ROBOTIC SYSTEMS | 2003年 / 20卷 / 10期

关键词：

D O I：

10.1002/rob.10110

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The paper proposes a neural networks approach to the solution of the tracking problem for mobile robots. Neural networks based controllers are investigated in order to exploit the nonlinear approximation capabilities of the nets for modeling the kinematic behavior of the vehicle and for reducing unmodeled tracking errors contributions. The training of the nets and the control performances analysis have been done in a real experimental setup. The proposed solutions are implemented on a PC-based control architecture for the real-time control of the LabMate mobile base and are compared with classical kinematic control schemes. Experimental results are satisfactory in terms of tracking errors and computational efforts. (C) 2003 Wiley Periodicals, Inc.

引用

页码：587 / 600

页数：14

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