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In this study, a robust path tracking control scheme is constructed for a nonholonomic mobile robot via a dynamic Petri recurrent-fuzzy-neural-network (DPRFNN). In the DPRFNN, the concept of a Petri net (PN) and the recurrent frame of internal feedback loops are incorporated into a traditional fuzzy neural network (FNN) to alleviate the computation burden of parameter learning and to enhance the dynamic...
Mobile robots rely on their ability of scene recognition to build a topological map of the environment and perform location-related tasks. In this paper, we describe a novel lightweight scene recognition method using an adaptive descriptor which is based on color features and geometric information for omnidirectional vision. Our method enables the robot to add nodes to a topological map automatically...
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