Please use this identifier to cite or link to this item:
|Title:||Neural Control for Driving a Mobile Robot Integrating Stereo Vision Feedback|
|Abstract:||This paper proposes a neural control integrating stereo vision feedback for driving a mobile robot. The proposed approach consists in synthesizing a suitable inverse optimal control to avoid solving the Hamilton Jacobi Bellman equation associated to nonlinear system optimal control. The mobile robot dynamics is approximated by an identifier using a discrete-time recurrent high order neural network, trained with an extended Kalman filter algorithm. The desired trajectory of the robot is computed during navigation using a stereo camera sensor. Simulation and experimental result are presented to illustrate the effectiveness of the proposed control scheme. © 2015 Springer Science+Business Media New York|
|Appears in Collections:||Producción científica UdeG (prueba)|
Files in This Item:
There are no files associated with this item.
Items in RIUdeG are protected by copyright, with all rights reserved, unless otherwise indicated.