퍼지-뉴럴 제어기법을 이용한 이동형 로봇의 자율주행 제어시스템 개발

Development of Automatic Cruise Control System of Mobile Robot Using Fuzzy-Neural Control Technique

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.