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Real-Time Fuzzy Neural Network Control for Real-Time Autonomous Cruise of Mobile Robot  

정동연 (경남대학교 대학원 기계설계학과)
김종수 (경남대학교 대학원 기계설계학)
한성현 (경남대학교 기계자동화공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.7, 2003 , pp. 155-162 More about this Journal
Abstract
We propose a new technique far real-tine controller design of a autonomous cruise mobile robot with three drive wheels. The proposed control scheme uses a Caussian function as a unit function in the fuzzy neural network. and a 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-foray. The control performance of the proposed controller is illustrated by performing the computer simulation for trajectory tracking of the speed and azimuth of a autonomous cruise mobile robot driven by three independent wheels.
Keywords
Autonomous Cruise; Mobile robot; Gaussian function; Fuzzy neural network; Trajectory tracking;
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Times Cited By KSCI : 2  (Citation Analysis)
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