Neural network control of a wheeled mobile robot based on optimal trajectories

This article is concerned with developing an intelligent system for the control of a wheeled robot. An algorithm for training an artificial neural network for path planning is proposed. The trajectory ensures steering optimal motion from the current position of the mobile robot to a prescribed posit...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2020-03, Vol.17 (2), p.172988142091607
Main Authors: Bozek, Pavol, Karavaev, Yury L, Ardentov, Andrey A, Yefremov, Kirill S
Format: Article
Language:English
Subjects:
Algorithms
Artificial neural networks
Control systems
Elastica
Equations of motion
Network control
Neural networks
Robot control
Robot dynamics
Robots
Steering
Trajectory planning
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Summary:This article is concerned with developing an intelligent system for the control of a wheeled robot. An algorithm for training an artificial neural network for path planning is proposed. The trajectory ensures steering optimal motion from the current position of the mobile robot to a prescribed position taking its orientation into account. The proposed control system consists of two artificial neural networks. One of them serves to specify the position and the size of the obstacle, and the other forms a continuous trajectory to reach it, taking into account the information received, the coordinates, and the orientation at the point of destination. The neural network is trained on the basis of samples obtained by modeling the equations of motion of the wheeled robot which ensure its motion along trajectories in the form of Euler’s elastica.
ISSN:1729-8806
1729-8814
1729-8814
DOI:10.1177/1729881420916077