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http://dx.doi.org/10.21289/KSIC.2022.25.4.521

A Study on an Intelligent Motion Control of Mobile Robot Based on Iterative Learning for Smart Factory  

Im, Oh-Duck (Navy Shipyard)
Kim, Hee-Jin (Dept. of Mechanical Eng., Graduate School, Kyungnam Univ.)
Kang, Da-Bi (School of mechanical Eng., Kyungnam Univ.)
Kim, Min-Chan (School of mechanical Eng., Kyungnam Univ.)
Han, Sung-Hyun (School of Mechanical Eng., College Engineering, Kyungnam Univ.)
Publication Information
Journal of the Korean Society of Industry Convergence / v.25, no.4_1, 2022 , pp. 521-531 More about this Journal
Abstract
This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.
Keywords
Real Time Control Implimentation; Intelligent Control; Iterative Learning; Smart Factory; Mobile Robot System;
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