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

fYear

2013

fDate

24-30 Nov. 2013

Firstpage

80

Lastpage

84

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Artificial Intelligence (MICAI), 2013 12th Mexican International Conference on

Conference_Location

Mexico City

Print_ISBN

978-1-4799-2604-6

Type

conf

DOI

10.1109/MICAI.2013.15

Filename

6714651