Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2003.11b
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- Pages.255-258
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- 2003
A Design of Fuzzy-Neural Network Algorithm Controller for Path-Tracking in Wheeled Mobile Robot
구륜 이동 로봇의 경로추적을 위한 퍼지-신경망을 이용한 제어기 설계
- Published : 2003.11.21
Abstract
It is hard to centrol the wheeled mobile robot because of uncertainty of modeling, non-holonomic constraint and so on. To solve the problems, we design the controller of wheeled mobile robot based on fuzzy-neural network algorithm. In this paper, we should research the problem of classical controller for path-tracking algorithm and design of Fuzzy-Neural Network algorithm controller. Classical controller acquired different control value according to change of initial position and direction. In this control value having very difficult and having acquired a lot of trial and error Fuzzy is implemented to adaptive adjust control value by error and change of error and neural network is implemented to adaptive adjust the control gain during the optimization. The computer simulation shows that the proposed fuzzy-neural network controller is effective.