Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

신경망을 이용한 차동조향 이동로봇의 추적제어

  • 계중읍 (부산대학교 지능기계공학과) ;
  • 김무진 (부산대학교 지능기계공학) ;
  • 이영진 (부산대학교 지능기계공학) ;
  • 이만형 (부산대학교 기계공학부)
  • Published : 2000.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose a controller for differentially steered wheeled mobile robots. The controller uses input-output linearization algorithm and artificial neural network to stabilize the dynamic model and compensate uncertainties. The proposed neural network part has 6 inputs, 1 hidden layer, 2 torque outputs and features fast online learning and good performance on structure error learning basis. Simulation results show that the proposed controller perform precisely tracking of reference path and is robust to uncertainties.

Keywords

References

  1. A. Meystel, 'Autonomous Mobile Robots,' World Scientific, pp. 30-50, 1991
  2. Y. Kanayama, Y. Kimura, F. Miyazaki, T. Noguchi, 'A Stable Tracking Control Method for an Autonomous Mobile Robot,' Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 384-389, 1990 https://doi.org/10.1109/ROBOT.1990.126006
  3. B. d'Andrea-Novel, G. Campion, G. Bastin, 'Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization,' Int. J. of Robotics Research, Vol. 14, No. 6, pp. 543-559, 1995 https://doi.org/10.1177/027836499501400602
  4. Keigo Watanabe, Jun Tang, Masatoshi Nakamura, Shinji Koga, and Toshio Fukuda, 'A Fuzzy Gaussian Neural Network and Its Application to Mobile Robot Control,' IEEE Trans. on control systems technology, Vol. 4, No. 2, 1996 https://doi.org/10.1109/87.486346
  5. R. Fierro and F. L. Lewis, 'Robust practial point stabilization of a nonholonomic mobile robot using neural networks,' Journal of Intelligent and Robotic Systems, Vol. 20, No. 2-4, pp. 295-317, 1997 https://doi.org/10.1023/A:1007916529436
  6. R. Colbaulgh, K. Glass, 'Decentralized adaptive control of nonholonomic mechanical systems,' Computers & Electrical Engineering, Vol. 24, pp. 135-165, 1998 https://doi.org/10.1016/S0045-7906(97)00035-9
  7. Y. L. Zhang, S. A. Velinsky, X. Feng, 'On the tracking control of differentially steered wheeled mobile robots,' J. of Dynamic Systems, Measurement, and Control, Vol. 119, pp. 455-461, 1997
  8. R. M. DeSantis, 'Modeling and path-tracking control of a mobile wheeled robot with a differential drive,' Robotica, Vol. 13, pp. 401-410, 1995
  9. Nilanjan Sarkar, Xiaoping Yun, Vijay Kumar, 'Control of Mechanical Systems With Rolling Constraints: Application to Dynamic Control of Mobile Robots,' The International Journal of Robotics Research, Vol. 13, No. 1, pp. 55-69, 1994 https://doi.org/10.1177/027836499401300104
  10. Donald T. Greenwood, 'Principles of Dynamics,' Prentice Hall, pp. 280-287, 1988
  11. 임영도, 이상부, 퍼지.신경망.유전진화, 영과 일, pp. 129-142, 1996
  12. Jean-Jacques E.Slotine, Weiping Li, Applied Nonlinear Control, Prentice-Hall, pp. 207-256, 1991
  13. A. Ishiguro, T. Furuhashi, S. Okuma, Y. Uchikawa, 'A neural network compensator for uncertainties of robotics manipulator,' IEEE Trans. Industrial Electronics, Vol. 39, No. 6, pp. 565-570, 1992 https://doi.org/10.1109/41.170976