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Please use this identifier to cite or link to this item:
http://hdl.handle.net/2080/1057
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| Title: | Intelligent Neuro-Controller for Navigation of Mobile Robot |
| Authors: | Singh, M K
Parhi, D R |
| Keywords: | Evolutionary robotics,
Artificial neural network,
Mobile robot,
Behavioral robotics. |
| Issue Date: | 2009 |
| Publisher: | Advances in Computing, Communication and Control |
| Citation: | Proceedings of the International Conference on Advances in Computing, Communication and Control, ICAC3'09, Pages 123-128, 2009 |
| Abstract: | This paper deals with the reactive control of an autonomous robot which move safely in a crowded real world unknown environment and to reach specified target by avoiding static as well as dynamic obstacle. The inputs to the proposed neurocontroller consist of left, right, and front obstacle distance to its locations and target
angle between a robot and a specified target being acquired by an array of sensors. A four layer neural networks is used to design
and develop the neurocontroller to solve the path and time optimization problem of mobile robots which deals the with cognitive tasks such as learning, adaptation, generalization and
optimization. Back propagation method is used to trained the network. This paper analyzes the kinematical modeling of mobile robots as well as the design of control systems for the autonomous
motion of the robot. The training of the nets and the control performances analysis have been done in a real experimental setup. The simulation results are compa... |
| URI: | http://hdl.handle.net/2080/1057 |
| Appears in Collections: | Journal Articles
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| RD1001_MKS.pdf | | 454Kb | Adobe PDF | View/Open |
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