The Azimuth and Velocity Control of a Mobile Robot with Two Drive Wheels by Neural-Fuzzy Control Method

뉴럴-퍼지제어기법에 의한 두 구동휠을 갖는 이동형 로보트의 자세 및 속도 제어

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