Title :
Neural control of a mobile robot with monocular visual feedback
Author :
Lopez-Franco, Carlos ; Lopez-Franco, Michel ; Sanchez, Edgar N. ; Alanis, Alma Y.
Author_Institution :
CS Dept., Univ. of Guadalajara, Guadalajara, Mexico
Abstract :
In this paper a neural identification approach is used to estimate the parameters of a mobile robot with nonholonomic constraints. Then an inverse optimal control is designed for its control. In order to take in account the environment of the robot, a monocular visual sensor is mounted on the robot to estimate the velocities for the controller. Simulations results show the effectiveness of the proposed neural controller.
Keywords :
control system synthesis; mobile robots; neurocontrollers; optimal control; parameter estimation; inverse optimal control design; mobile robot; monocular visual feedback; monocular visual sensor; neural controller; neural identification approach; nonholonomic constraints; parameter estimation; velocity estimation; Cameras; Mobile robots; Optimal control; Robot vision systems; Visualization; Wheels;
Conference_Titel :
World Automation Congress (WAC), 2014
Conference_Location :
Waikoloa, HI
DOI :
10.1109/WAC.2014.6936045
