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In this study we develop a feedback controller for a four wheeled autonomous mobile robot. The purpose of the controller is to guarantee robust performance of an aggressive maneuver (90 degrees turn) at high velocity (about 10 m/s) on a loose surface (dirty road). To tackle this highly nonlinear control problem, we employ multi-objective evolutionary algorithms to explore and optimize the parameters...
Wheeled inverted pendulum (WIP) models have been widely used in the field of autonomous robotics and intelligent vehicles. A novel transportation system, WIP-car is proposed in this paper, which is composed of a mobile wheeled inverted pendulum system, a driven chair, an acceleration pedal and a deceleration pedal, which are used to drive the chair forward or backward such that the car can be accelerated...
This study focuses on the design of a dynamic Petri recurrent-fuzzy-neural-network (DPRFNN), and this network structure is applied to the path tracking control of a nonholonomic mobile robot for verifying its validity. In the DPRFNN, the concept of a Petri net (PN) with dynamic threshold value and the recurrent frame of internal feedback loops are incorporated into a traditional fuzzy neural network...
This paper presents experimental results validating a novel dual adaptive neuro-control scheme based on the unscented transform, for the dynamic control of nonholonomic wheeled mobile robots. This novel controller, recently proposed by the same authors, has so far been tested by simulations only. In contrast to the majority of adaptive control techniques hitherto proposed in the literature, the controller...
In this paper, the trajectory-planning problem of a mobile robot is studied with an application to near optimal energy parking. A hybrid data-driven neuro-fuzzy system composed of two steps is developed; first, we introduce a preprocessing step involving offline trajectory parking, and generating reference optimal energy trajectories, while satisfying several constraints related to robot kinematics...
In this paper, a trajectory tracking control for a nonholonomic mobile robot by the integration of a kinematic controller and neural dynamic controller is investigated, where the wheel actuator (e.g., dc motor) dynamics is integrated with mobile robot dynamics and kinematics so that the actuator input voltages are the control inputs. The proposed neural dynamic controller (PNDC), based on the sliding...
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