Title :
Autonomous Motion of Mobile Robot Using Fuzzy-Neural Networks
Author :
Moran Cardenas, Antonio ; Razuri, Javier G. ; Sundgren, David ; Rahmani, Rahim
Author_Institution :
Pontifical Catholic Univ. of Peru PUCP, Lima, Peru
Abstract :
This paper analyzes the performance and practical implementation of fuzzy-neural networks for the autonomous motion of mobile robots. The designed fuzzy-neural controller is a refined version of a conventional fuzzy controller, and was trained to optimize a given cost function minimizing positioning error. It was found that the mobile robot with fuzzy-neural controller presents good positioning and tracking performance for different types of desired trajectories. It was verified by computer simulation as well as experimentally using a laboratory-scale car-like robot model.
Keywords :
digital simulation; fuzzy control; mobile robots; motion control; neurocontrollers; position control; autonomous mobile robot motion; computer simulation; cost function; designed fuzzy-neural controller; fuzzy-neural networks; laboratory-scale car-like robot model; positioning error minimization; tracking performance; Mathematical model; Mobile robots; Neural networks; Robot kinematics; Training; Trajectory; Dynamic Back Propagation; Fuzzy-Neural Control; Mobile Robot; Neural Network Training;
Conference_Titel :
Artificial Intelligence (MICAI), 2013 12th Mexican International Conference on
Conference_Location :
Mexico City
Print_ISBN :
978-1-4799-2604-6
DOI :
10.1109/MICAI.2013.15
