Mobile robot control using fuzzy-Gaussian neural networks

Author

Watanabe, K. ; Tang, J. ; Nakamura, M. ; Koga, S. ; Fukuda, T.

Author_Institution

Dept. of Mech. Eng., Saga Univ., Japan

Volume

2

fYear

1993

fDate

26-30 Jul 1993

Firstpage

919

Abstract

A tracking problem for controlling the speed and azimuth of a mobile robot driven by two independent wheels is solved by using a fuzzy Gaussian neural network (FGNN) controller. The computed torque control law is first derived to obtain some relationships between the driving torque and the plant output information. To simplify the FGNN controller for the two-input two-output controlled system, a learning controller consisting of two FGNNs based on independent reasoning and a connection net with fixed weights is proposed. The effectiveness of the method is illustrated by performing the simulation of a circular trajectory tracking control

Keywords

mobile robots; azimuth control; circular trajectory tracking control; computed torque control law; connection net; fixed weights; fuzzy-Gaussian neural networks; independent reasoning; independent wheels; learning controller; mobile robot control; speed control; tracking problem; two-input two-output controlled system; Azimuth; Control systems; Fuzzy control; Fuzzy neural networks; Mobile robots; Neural networks; Robot control; Torque control; Trajectory; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583253

Filename

583253