Autonomous Motion of Mobile Robot Using Fuzzy-Neural Networks
2013 (English)Conference paper (Refereed)
This paper analyzes the performance and practical implementation of fuzzy-neural networks for the autonomous motion of mobile robots. The designed fuzzy-neural controller is a refined version of a conventional fuzzy controller, and was trained to optimize a given cost function minimizing positioning error. It was found that the mobile robot with fuzzy-neural controller presents good positioning and tracking performance for different types of desired trajectories. It was verified by computer simulation as well as experimentally using a laboratory-scale car-like robot model.
Place, publisher, year, edition, pages
IEEE Computer Society, 2013.
Fuzzy-Neural Control, Neural Network Training, Dynamic Back Propagation, Mobile Robot
Research subject Computer and Systems Sciences
IdentifiersURN: urn:nbn:se:su:diva-97709DOI: 10.1109/MICAI.2013.15ISBN: 978-1-4799-2605-3OAI: oai:DiVA.org:su-97709DiVA: diva2:679939
12th Mexican International Conference on Artificial Intelligence, Mexico City, Mexico, November 24-30, 2013