Title :
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
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;
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
DOI :
10.1109/IROS.2009.5354280
