Commenced in January 2007
Paper Count: 30169
Neural Network Controller for Mobile Robot Motion Control
Abstract:In this paper the neural network-based controller is designed for motion control of a mobile robot. This paper treats the problems of trajectory following and posture stabilization of the mobile robot with nonholonomic constraints. For this purpose the recurrent neural network with one hidden layer is used. It learns relationship between linear velocities and error positions of the mobile robot. This neural network is trained on-line using the backpropagation optimization algorithm with an adaptive learning rate. The optimization algorithm is performed at each sample time to compute the optimal control inputs. The performance of the proposed system is investigated using a kinematic model of the mobile robot.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1073393Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2891
 A. Lacaze, "A neural network planner that prunes its own tree," Term paper, Knowledge Engineering Department, University of Meryland, 1997.
 A. G. Barto, "Neuronlike adaptive elements that can solve difficult learning control problems," IEEE Transactions on System, Man and Cybernetics, vol. 13, pp. 834-846, 1983.
 Z. Hendzel, "Adaptive Critic Neural Networks for Motion Control of Wheeled Mobile Robot," Nonlinear Dynamics, vol. 50, no. 4, pp. 849- 855, 2007.
 K.S. Narenda, and K. Pathasarathy, "Identification and control of dynamic systems using neural network," IEEE Transaction on Neural Networks, vol. 1, no. 1, pp. 4-27, 1990.
 D. Nguyen, and B. Widrow, "Neural Networks for Self- Learning Control Systems," IEEE Control System Magazine, vol. 10, no. 1, pp. 18-23, Feb. 1990.
 K. Hornik, M. Stinchombe, and H. White, "Universal Approximation of an Unknown mapping and its Derivatives Using Multilayer Feedforward Networks," Neural Networks, vol. 3, 1990.
 M. Corradini, G. Ippoliti, and S. Longhi, "Neural Networks Based Control of Mobile Robots: Development and Experimental Validation", Journal of Robotic Systems, vol. 20, no. 10, pp. 587-600, 2003.
 Z. P. Jiang, E. Lefeber, and H. Nijmeijer, "Saturated stabilization and tracking of a nonholonomic mobile robot," Systems & Control Letters, vol. 42, pp. 327-332, 2001.
 G. Ram├¡rez,. and S. Zeghloul, "A New Local Path Planner for Nonholonmic Mobile Robot Navigation in Cluttered Environments, " in Proc. IEEE Int. Conf. on Robotics and Automation, 2000,p. 2058-2063..
 H.G. Tanner, and K.J. Kyriakopoulos, "Backstepping for nonsmooth systems, " Automatica, vol. 39, 2003, pp. 1259-1265.
 J. Velagic, B. Lacevic, and B. Perunicic, "A 3-Level Autonomous Mobile Robot Navigation System Designed by Using Reasoning/Search Approaches," Robotics and Autonomous Systems, vol. 54, no. 12, pp. 989-1004, Dec. 2006.
 R. Fierro, and F. L. Lewis, "Control of a nonholonomic mobile robot using neural networks", IEEE Transactions on Neural Networks, vol. 9, no. 4, pp. 389-400, 1998.
 S. X. Yang, and M. Meng, "Real-time fine motion control of robot manipulators with unknown dynamics," in: Dynamics in Continuous, Discrete and Impulse Systems, Series B, 2001.
 J. Velagic, and M. Hebibovic, "Neuro-Fuzzy Architecture for Identification and Tracking Control of a Robot," in Proc. The World Automation Congress - 5th International Symposium on Soft Computing for Industry ISSCI2004, June 28 - July 1, Sevilla, Spain, paper no. ISSCI-032 (1:9), 2004.
 J. Velagic, B. Lacevic, and M. Hebibovic, "On-Line Identification of a Robot Manipulator Using Neural Network with an Adaptive Learning Rate," in Proc. 16th IFAC World Congress, 03-08 June, Prague, Czech Republic, 2005, paper no. 2684(1-6), 2005.
 M. Egerstedt, X. Hu, A. Stotsky, "Control of mobile platforms using a virtual vehicle approach," IEEE Transactions on Automatic Control , vol. 46, no. 11, pp. 1777-1882, 2001.