文章基本信息

标题：Neural Control for a Differential Drive Wheeled Mobile Robot Integrating Stereo Vision Feedback
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作者：Michel Lopez-Franco ; Edgar N. Sanchez ; Alma Y. Alanis 等
期刊名称：Computación y Sistemas
印刷版ISSN：1405-5546
出版年度：2015
卷号：19
期号：3
页码：429-443
语种：English
出版社：Instituto Politécnico Nacional
摘要：This paper proposes a tracking control method for a differential drive wheeled mobile robot with nonholonomic constraints with an inverse optimal neural controller. It is based on two techniques: first, an identifier using a discrete-time recurrent high-order neural network (RHONN) trained with an extended Kalman filter (EKF) algorithm is employed; second, an inverse optimal control is used to avoid solving the Hamilton Jacobi Bellman (HJB) equation. The desired trajectory of the robot is computed during the navigation process using a stereo camera sensor.
其他摘要：This paper proposes a tracking control method for a differential drive wheeled mobile robot with nonholonomic constraints with an inverse optimal neural controller. It is based on two techniques: first, an identifier using a discrete-time recurrent high-order neural network (RHONN) trained with an extended Kalman filter (EKF) algorithm is employed; second, an inverse optimal control is used to avoid solving the Hamilton Jacobi Bellman (HJB) equation. The desired trajectory of the robot is computed during the navigation process using a stereo camera sensor.
关键词：Neural control; tracking control; differential drive steering; identifier; inverse optimal control.
其他关键词：Neural control; tracking control; differential drive steering; identifier; inverse optimal control.