이동형 로보트의 속도 및 방향제어를 위한 퍼지-신경제어기 설계

The Design of Fuzzy-Neural Controller for Velocity and Azimuth Control of a Mobile Robot

In this paper, we propose a new fuzzy-neural network control scheme for the speed and azimuth control of a mobile robot. 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 frame-work of the specialized learning architecture. It is proposed a learning controller consisting of two fuzzy-neural networks based on independent reasoning and a connection net woth fixed weights to simply the fuzzy-neural network. The effectiveness of the proposed controller is illustrated by performing the computer simulation for a circular trajectory tracking of a mobile robot driven by two independent wheels.