Adaptive Neural Control for Mobile Robots Autonomous Navigation
Abstract
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning of mobile robot system simultaneously. In the learning controller (neural network based controller) the velocity dynamics learning control takes part in tracking of the reference velocity trajectory by learning the inverse function of robot dynamics while the reference velocity control input plays a role in stabilizing the kinematic steering system to the desired reference model of kinematic system even without using the assumption of perfect velocity tracking.
Cite
@article{arxiv.1512.03351,
title = {Adaptive Neural Control for Mobile Robots Autonomous Navigation},
author = {Monica Dragoicea and Ioan Dumitrache and Nicolae Constantin},
journal= {arXiv preprint arXiv:1512.03351},
year = {2015}
}
Comments
in Proceedings of the 7th Int. Symposium on Automatic Control and Computer Science SACCS 2001, Iasi, Romania, CD ISBN 973-8292-11-5, 2001