Neural Network Control of a Four-Wheeled Mobile Robot Subject to Wheel Slip

2015 ◽  
pp. 187-201 ◽  
Author(s):  
Zenon Hendzel ◽  
Maciej Trojnacki
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Network Control ◽  
Wheeled Mobile Robot ◽  
Neural Network Control ◽  
Wheel Slip

scholarly journals Neural network control of a wheeled mobile robot based on optimal trajectories

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142091607
Author(s):  
Pavol Bozek ◽  
Yury L Karavaev ◽  
Andrey A Ardentov ◽  
Kirill S Yefremov
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Intelligent System ◽  
Equations Of Motion ◽  
Network Control ◽  
Neural Network Control ◽  
The Neural Network ◽  
Euler’S Elastica ◽  
Wheeled Robot ◽  
Artificial Neural

This article is concerned with developing an intelligent system for the control of a wheeled robot. An algorithm for training an artificial neural network for path planning is proposed. The trajectory ensures steering optimal motion from the current position of the mobile robot to a prescribed position taking its orientation into account. The proposed control system consists of two artificial neural networks. One of them serves to specify the position and the size of the obstacle, and the other forms a continuous trajectory to reach it, taking into account the information received, the coordinates, and the orientation at the point of destination. The neural network is trained on the basis of samples obtained by modeling the equations of motion of the wheeled robot which ensure its motion along trajectories in the form of Euler’s elastica.

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