A simple neural dynamics based tracking controller for a mobile robot

Author

Hu, Yanrong ; Yang, Yihui ; Yihui Yang

Author_Institution

Sch. of Eng., Guelph Univ., Ont., Canada

Volume

2

fYear

2002

fDate

29 June-1 July 2002

Firstpage

1179

Abstract

In this paper, a simple, yet efficient, neural dynamics based tracking controller for a mobile robot is proposed. The robot velocity in the proposed model is characterized by a biologically inspired shunting equation derived from Hodgkin and Huxley´s membrane equation. This model is capable of generating smooth, continuous velocity commands to track arbitrary discrete paths that can be obtained from a real-time path planner. The effectiveness of the proposed controller is demonstrated by simulation studies.

Keywords

control system analysis; control system synthesis; controllers; mobile robots; neural nets; path planning; position control; stability; velocity control; Hodgkin-Huxley membrane equation; arbitrary discrete path tracking; biologically inspired shunting equations; control system stability; controller smooth continuous velocity commands; mobile robot neural dynamics based tracking controllers; neural networks; path planning; real-time path planners; robot velocity modeling; velocity control; Biological system modeling; Biomembranes; Control systems; Displacement control; Equations; Legged locomotion; Mobile robots; Robot control; Robot kinematics; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Communications, Circuits and Systems and West Sino Expositions, IEEE 2002 International Conference on

Print_ISBN

0-7803-7547-5

Type

conf

DOI

10.1109/ICCCAS.2002.1178994

Filename

1178994