Intelligent Control of Mobile Robot Based-on Neural Network

뉴럴네트워크를 이용한 이동로봇의 지능제어

  • 김홍래 (경남대학교 대학원 기계설계학과) ;
  • 김용태 (보그워너 TTS 코리아) ;
  • 한성현 (경남대학교 기계자동화공학부)
  • Published : 2004.10.01

Abstract

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.

Keywords