퍼지-뉴럴 제어기법에 의한 이동 로봇의 자율주행 제어시스템 개발

Development of Automatic Cruise Control System of Mobile Robot Using Fuzzy-Neural Control Technique

  • 김종수 (경남대학교 대학원 기계설계학과) ;
  • 한덕기 (중앙기계공업(주) / 경남대학교 산업대학원 기계공학과) ;
  • 김영규 ;
  • 한성현 (경남대학교 기계자동화공학부)
  • 발행 : 2001.04.01

초록

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

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