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Autonomous Motion of Mobile Robot Using Fuzzy-Neural Networks
Stockholm University, Faculty of Social Sciences, Department of Computer and Systems Sciences.
Stockholm University, Faculty of Social Sciences, Department of Computer and Systems Sciences.
Stockholm University, Faculty of Social Sciences, Department of Computer and Systems Sciences.
2013 (English)Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
Fuzzy-Neural Control, Neural Network Training, Dynamic Back Propagation, Mobile Robot
National Category
Information Systems
Research subject
Computer and Systems Sciences
Identifiers
URN: urn:nbn:se:su:diva-97709DOI: 10.1109/MICAI.2013.15ISBN: 978-1-4799-2605-3 (print)OAI: oai:DiVA.org:su-97709DiVA: diva2:679939
Conference
12th Mexican International Conference on Artificial Intelligence, Mexico City, Mexico, November 24-30, 2013
Available from: 2013-12-17 Created: 2013-12-17 Last updated: 2018-01-11Bibliographically approved

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Guerrero Rázuri, Javier FranciscoSundgren, DavidRahmani, Rahim
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