대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 하계학술대회 논문집 D
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- Pages.2414-2416
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- 2003
웨이블릿 신경 회로망을 이용한 이동 로봇의 경로 추종 제어
Path Tracking Control Using a Wavelet Neural Network for Mobile Robots
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Oh, Joon-Seop
(Dept. of Electrical & Computer Engineering, Yonsei Univ.) ;
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Park, Jin-Bae
(Dept. of Electrical & Computer Engineering, Yonsei Univ.) ;
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Choi, Yoon-Ho
(School of Electronic Engineering, Kyonggi Univ.)
- 발행 : 2003.07.21
초록
In this raper, we present a Wavelet Neural Network(WNN) approach to the solution of the tracking problem for mobile robots that possess complexity, nonlinearity and uncertainty. The neural network is constructed by the wavelet orthogonal decomposition to form a wavelet neural network that can overcome the problems caused by local minima of optimization and various uncertainties. This network structure is helpful to determine the number of the hidden nodes and the initial value of weights with compact structure. In our control method, the control signals are directly obtained by minimizing the difference between the reference track and the pose of a mobile robot that is controlled through a wavelet neural network. The control process is a dynamic on-line process that uses the wavelet neural network trained by the gradient-descent method. Through computer simulations, we demonstrate the effectiveness and feasibility of the proposed control method.
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