Title :
Following of Trayectories for a Mobile Robot Using Neural Networks
Author :
Lopez, Maximiliano Bueno ; Acevedo, Santiago Sánchez ; Rios, L.H.
Author_Institution :
Robotic & Sensorial Perception Res. Group(GIROPS), Technol. Univ. of Pereira, Pereira
fDate :
Sept. 30 2008-Oct. 3 2008
Abstract :
This paper reviews a theory of robot motion planning and elaborates an application in which neural networks are used to take decisions regarding the orientation of a robot in its search for a destination target.The Simulink is used as a tool to implement the concepts. The neural networks allow obtaining a model of inverse dynamic, indeed the mathematical model of robot. The test was realized with different types of trajectories to validate the methodology proposed. A servosystem was adjusted optimally by the implementation of an heuristic technic.
Keywords :
mobile robots; motion control; neurocontrollers; path planning; position control; robot dynamics; inverse dynamic; mobile robot; neural network; robot motion planning; servosystem; Biological neural networks; Control system synthesis; Control systems; Mathematical model; Mobile robots; Neural networks; Neurons; Robot sensing systems; Sliding mode control; Vehicle dynamics;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference, 2008. CERMA '08
Conference_Location :
Morelos
Print_ISBN :
978-0-7695-3320-9
DOI :
10.1109/CERMA.2008.69
