Target tracking control of a mobile robot using a Brain limbic system based control strategy

Author

Kim, Changwon ; Langari, Reza

Author_Institution

Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

5059

Lastpage

5064

Abstract

In this paper, a Brain limbic system (BLS) based control algorithm is used to address the problem of target tracking in mobile robotics. The mathematical description of this approach in the form of BELBIC (Brain Emotional Learning Based Intelligent Control; also referred to as BLS) is presented and used to generate appropriate velocity profile for the mobile robot to track its target. The overall performance of the system is enhanced via fuzzy clustering of the error and velocity pairs.

Keywords

brain models; fuzzy set theory; intelligent control; learning (artificial intelligence); mobile robots; pattern clustering; target tracking; BELBIC; brain emotional learning based intelligent control; brain limbic system based control strategy; fuzzy clustering; mobile robot; target tracking control; Brain modeling; Computational modeling; Control systems; Humans; Intelligent control; Intelligent robots; Mobile robots; Robotics and automation; Sliding mode control; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354280

Filename

5354280