Guidance and control of a mobile robot using neural network correction based on a remotely located sensor

被引：3
|
作者：
Jang, Pyung Soo [1 ]
Jung, Seul [1 ]
机构：
[1] Chungnam Natl Univ, Dept Mech Engn, Intelligent Syst & Emot Engn Lab, Taejon 306764, South Korea
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
mobile robot; tracking control; neural network; cascaded control;
D O I：
10.1109/IROS.2006.281973
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the guidance and control of a mobile robot using a neural network. Location of a mobile robot is determined by the global laser sensor remotely located from the robot. A cascaded controller is used as a primary controller for position control of the robot, and a deviated position error is corrected by a neural network using the reference compensation algorithm. A car-like robot has been built for the test. Several control algorithms are investigated and tested. Among them, the cascaded controller with compensation by a neural network performs best.
引用
收藏
页码：1464 / +
页数：2
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