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Intelligent Control Design of Mobile robot Using Neural-Fuzzy Control Method  

한성현 (경남대학교 기계자동화공학부)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.11, no.4, 2002 , pp. 62-67 More about this Journal
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 loaming 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 tucking of the speed and azimuth of a mobile robot driven by two independent wheels.
Keywords
Mobile Robot Gaussian Function; Fuzzy-neural Network Trajectory Tracking;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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