Title :
Guidance and Control of a Mobile Robot Using Neural Network Correction Based on a Remotely Located Sensor
Author :
Pyung Soo Jang ; Jung, Seul
Author_Institution :
Dept. of Mechatronics Eng., Chungnam Nat. Univ., Daejeon
Abstract :
This paper presents the guidance and control of a mobile robot using a neural network. Location of a mobile robot is determined by the global laser sensor remotely located from the robot. A cascaded controller is used as a primary controller for position control of the robot, and a deviated position error is corrected by a neural network using the reference compensation algorithm. A car-like robot has been built for the test. Several control algorithms are investigated and tested. Among them, the cascaded controller with compensation by a neural network performs best
Keywords :
cascade control; compensation; mobile robots; neurocontrollers; position control; cascaded controller; global laser sensor; mobile robot; neural network correction; position control; reference compensation algorithm; remotely located sensor; Communication system control; Intelligent sensors; Kinematics; Mobile robots; Navigation; Neural networks; Robot control; Robot sensing systems; Sensor fusion; State estimation; cascaded control; mobile robot; neural network; tracking control;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281973