NDLI: Real-time collision-free path planning and tracking control of a nonholonomic mobile robot using a biologically inspired approach

Content Provider	IEEE Xplore Digital Library
Author	Yang, S.X. Guangfeng Yuan Meng, M. Mittal, G.S.
Copyright Year	2001
Description	Author affiliation: Sch. of Eng., Guelph Univ., Ont., Canada (Yang, S.X.)
Abstract	A biologically inspired neural network approach is proposed for real-time collision-free path planning and tracking control of a nonholonomic mobile robot in a nonstationary environment. The real-time robot trajectory with obstacle avoidance is rated by a topologically organized neural network, where the dynamics of each neuron is characterized by a shunting equation. The varying environment is represented by the dynamic activity landscape of the neural network. Where the neural activity propagation is subject to the kinematic constraint of the nonholonomic mobile robots. The real-time tracking velocities are generated by a novel neural dynamics based controller, which is based on two shunting models and the backstepping technique. Unlike the backstepping controllers that produce non-smooth velocity commands with sharp jumps, the proposed tracking controller is capable of generating smooth, continuous commands not suffering from velocity jumps. The effectiveness and efficiency of the proposed approach are demonstrated through simulation and comparison studies.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	3402
Ending Page	3407
File Size	633630
Page Count	6
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.933143
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Mobile robots Neural networks Backstepping Velocity control Biological control systems Kinematics Robot control Computational efficiency Cost function
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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