Discrete time neural control of a nonholonomic mobile robot integrating stereo vision feedback

Author

Lopez-Franco, Michel ; Sanchez, Edgar N. ; Alanis, Alma Y. ; Lopez-Franco, Carlos

Author_Institution

CINVESTAV, Guadalajara, Mexico

fYear

2013

fDate

4-9 Aug. 2013

Firstpage

1

Lastpage

8

Abstract

In this paper, we present a discrete time neural controller for driving a nonholonomic mobile robot integrating stereo camera sensos. The proposed approach is based on a discrete-time high order neural network (RHONN) trained with an extended Kalman filter (EKF). The desired trjectory of the robot is computed during the navigation process using the stereo camera sensor. Simulation result is presented to show the effectiveness of the proposed control scheme.

Keywords

Kalman filters; cameras; discrete time systems; feedback; image sensors; mobile robots; neurocontrollers; nonlinear filters; path planning; robot vision; stereo image processing; EKF; RHONN; discrete time neural controller; discrete-time high order neural network; extended Kalman filter; navigation process; nonholonomic mobile robot; stereo camera sensors; stereo vision feedback; Cameras; Mobile robots; Neural networks; Optimal control; Robot kinematics; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Neural Networks (IJCNN), The 2013 International Joint Conference on

Conference_Location

Dallas, TX

ISSN

2161-4393

Print_ISBN

978-1-4673-6128-6

Type

conf

DOI

10.1109/IJCNN.2013.6706786

Filename

6706786