한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제17권3호
  • /
  • Pages.90-101
  • /
  • 2000
  • /
  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

신경망을 이용한 차동조향 이동로봇의 추적제어

  • 계중읍 (부산대학교 지능기계공학과) ;
  • 김무진 (부산대학교 지능기계공학) ;
  • 이영진 (부산대학교 지능기계공학) ;
  • 이만형 (부산대학교 기계공학부)
  • 발행 : 2000.03.01
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초록

In this paper, we propose a controller for differentially steered wheeled mobile robots. The controller uses input-output linearization algorithm and artificial neural network to stabilize the dynamic model and compensate uncertainties. The proposed neural network part has 6 inputs, 1 hidden layer, 2 torque outputs and features fast online learning and good performance on structure error learning basis. Simulation results show that the proposed controller perform precisely tracking of reference path and is robust to uncertainties.

키워드

참고문헌

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