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http://dx.doi.org/10.5391/JKIIS.2005.15.4.457

A Study on Wavelet Neural Network Based Generalized Predictive Control for Path Tracking of Mobile Robots  

Song, Yong-Tae (Technology Support Division Production Engineering Team, SAMSUNG SDI CO.,LTD)
Oh, Joon-Seop (Dept. of Electrical & Electronic Eng., Yonsei University)
Park, Jin-Bae (Dept. of Electrical & Electronic Eng., Yonsei University)
Choi, Yoon-Ho (School of Electronic Eng., Kyonggi University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.15, no.4, 2005 , pp. 457-466 More about this Journal
Abstract
In this paper, we propose a wavelet neural network(WNN) based predictive control method for path tracking of mobile robots with multi-input and multi-output. In our control method, we use a WNN as a state predictor which combines the capability of artificial neural networks in learning processes and the capability of wavelet decomposition. A WNN predictor is tuned to minimize errors between the WNN outputs and the states of mobile robot using the gradient descent rule. And control signals, linear velocity and angular velocity, are calculated to minimize the predefined cost function using errors between the reference states and the predicted states. Through a computer simulation for the tracking performance according to varied track, we demonstrate the efficiency and the feasibility of our predictive control system.
Keywords
Mobile Robot; Path tracking; Wavelet neural network; Predictive control;
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