Proceedings of the Korean Society of Machine Tool Engineers Conference (한국공작기계학회:학술대회논문집)
- 2003.04a
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- Pages.312-318
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- 2003
Real-Time Fuzzy Neural Network Control for Real-Time Autonomous Cruise of Mobile Robot
이동로봇의 자율주행을 위한 실시간 퍼지신경망 제어
Abstract
We propose a new technique for the cruise control system design of a mobile robot with three 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 teaming architecture. It is proposed a learning controller consisting of too 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 three independent wheels.
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