NDLI: Mobile Robot Path Tracking in Unknown Dynamic Environment

Content Provider	IEEE Xplore Digital Library
Author	Du Zhi Jiang Wang Zhong Min
Copyright Year	2008
Description	Author affiliation: State key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin (Du Zhi Jiang; Wang Zhong Min)
Abstract	The paper proposes a cooperative system of fuzzy neural networks (FNN) and fuzzy logic control (FLC). And this system is used to on-line path tracking of a mobile robot in unknown dynamic environment, instead of the commonly used FLC to research on this problem. Firstly, the application of FNN based on the kinematics models of mobile robot is described in detail, moreover, it uses an improved back propagation (BP) algorithm to complete the network learning and training. Secondly, it utilizes FLC to fulfill the real-time avoiding obstacles. The simulation results show that the proposed cooperative system is effective and robust, meanwhile possesses better abilities of path tracking and real-time avoiding obstacles in unknown dynamic environment.
Starting Page	1201
Ending Page	1205
File Size	2601784
Page Count	5
File Format	PDF
ISBN	9781424416752
DOI	10.1109/RAMECH.2008.4681348
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Fuzzy neural networks Fuzzy control Kinematics Cooperative systems Control systems Path planning Intelligent robots Feedback control Neural networks unknown dynamic environment mobile robot path tracking fuzzy neural networks (FNN)
Content Type	Text
Resource Type	Article

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