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http://dx.doi.org/10.5302/J.ICROS.2004.10.7.625

Experimental Studies of a Cascaded Controller with a Neural Network for Position Tracking Control of a Mobile Robot Based on a Laser Sensor  

Jang, Pyung-Soo (충남대학교 메카트로닉스공학과)
Jang, Eun-Soo (충남대학교 메카트로닉스공학과)
Jeon, Sang-Woon (한국항공우주연구소)
Jung, Seul (충남대학교 메카트로닉스공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.7, 2004 , pp. 625-633 More about this Journal
Abstract
In this paper, position control of a car-like mobile robot using a neural network is presented. positional information of the mobile robot is given by a laser range finder located remotely through wireless communication. The heading angle is measured by a gyro sensor. Considering these two sensor information as a reference, the robot posture is corrected by a cascaded controller. To improve the tracking performance, a neural network with a cascaded controller is used to compensate for any uncertainty in the robot. The neural network functions as a compensator to minimize the positional errors in on-line fashion. A car-like mobile robot is built as a test-bed and experimental studies of several controllers are conducted and compared. Experimental results show that the best position control performance can be achieved by a cascaded controller with a neural network.
Keywords
mobile robot; neural network; cascaded controller; reference compensation technique;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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