2 research outputs found
Neural Network Controller Design for a Mobile Robot Navigation; a Case Study
Mobile robot are widely applied in various aspect of human life. The main issue of this type of robot is how to navigate safely to reach the goal or finish the assigned task when applied autonomously in dynamic and uncertain environment. The ap- plication of artificial intelligence, namely neural network, can provide a ”brain” for the robot to navigate safely in completing the assigned task. By applying neural network, the complexity of mobile robot control can be reduced by choosing the right model of the system, either from mathematical modeling or directly taken from the input of sensory data information. In this study, we compare the presented methods of previous researches that applies neural network to mobile robot navigation. The comparison is started by considering the right mathematical model for the robot, getting the Jacobian matrix for online training, and giving the achieved input model to the designed neural network layers in order to get the estimated position of the robot. From this literature study, it is concluded that the consideration of both kinematics and dynamics modeling of the robot will result in better performance since the exact parameters of the system are known
A Chaotic Neural Network as Motor Path Generator for Mobile Robotics
This work aims at developing a motor path
generator for applications in mobile robotics based on a
chaotic neural network. The computational paradigm inspired
by the neural structure of microcircuits located in the human
prefrontal cortex is adapted to work in real-time and used
to generate the joints trajectories of a lightweight quadruped
robot. The recurrent neural network was implemented in
Matlab and a software framework was developed to test the
performances of the system with the robot dynamic model.
Preliminary results demonstrate the capability of the neural
controller to learn period signals in a short period of time
allowing adaptation during the robot operatio