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

이동형 로보트의 속도 및 방향제어를 위한 퍼지-신경제어기 설계

  • Han, S.H. ;
  • Lee, H.S.
  • 한성현 (경남대 기계설계학과) ;
  • 이희섭 (대우중공업(주))
  • Published : 1996.04.01

Abstract

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.

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