Titre :
|
Neural network MBPC for mobile robot path tracking
|
Auteurs :
|
J. Gomez-ortega ;
E. Camacho
|
Type de document :
|
article/chapitre/communication
|
Année de publication :
|
1994
|
Format :
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p.271-278
|
Langues:
|
= Anglais
|
Catégories :
|
AGROEQUIPEMENTS ET MACHINISME
|
Mots-clés:
|
RESEAU DE NEURONES
;
MODELE
;
ALGORITHME
;
ROBOTIQUE MOBILE
;
CONDUITE DE VEHICULE
|
Résumé :
|
This paper presents a way of implementing a model-based predictive controller (MBPC) for mobile robot path tracking. The method uses a non-linear model of mobile robot dynamics and thus allows an accurate prediction of the future trajectories. Constraints on the maximum attainable speeds are also considered by the algorithm. A multilayer perceptron is used to implement the MBPC. The perceptron has been trained to reproduce the MPBC behaviour in a supervised way. Experimental results obtained when applying the neural network controller to a TRC labmate mobile platform are given in the paper.
|
Source :
|
Robotics and computer integrated manufacturing, vol 11, n°4
|