Abstract

LOPEZ-FRANCO, Michel; SANCHEZ, Edgar N.; ALANIS, Alma Y.  and  LOPEZ-FRANCO, Carlos. Neural Control for a Differential Drive Wheeled Mobile Robot Integrating Stereo Vision Feedback. Comp. y Sist. [online]. 2015, vol.19, n.3, pp.429-443. ISSN 2007-9737.

This paper proposes a tracking control method for a differential drive wheeled mobile robot with nonholonomic constraints with an inverse optimal neural controller. It is based on two techniques: first, an identifier using a discrete-time recurrent high-order neural network (RHONN) trained with an extended Kalman filter (EKF) algorithm is employed; second, an inverse optimal control is used to avoid solving the Hamilton Jacobi Bellman (HJB) equation. The desired trajectory of the robot is computed during the navigation process using a stereo camera sensor.

Keywords : Neural control; tracking control; differential drive steering; identifier; inverse optimal control.

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