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Title: Neural Control for Driving a Mobile Robot Integrating Stereo Vision Feedback
Author: Lopez-Franco, M.
Sanchez, E.N.
Alanis, A.Y.
Lopez-Franco, C.
Issue Date: 2015
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
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