TY - GEN
T1 - Autonomous motion of mobile robot using fuzzy-neural networks
AU - Cardenas, Antonio Moran
AU - Rázuri, Javier G.
AU - Sundgren, David
AU - Rahmani, Rahim
PY - 2013
Y1 - 2013
N2 - This paper analyzes the performance and practical implementation of fuzzy-neural networks for the autonomous motion of mobile robots. The designed fuzzy-neural controller is a refined version of a conventional fuzzy controller, and was trained to optimize a given cost function minimizing positioning error. It was found that the mobile robot with fuzzy-neural controller presents good positioning and tracking performance for different types of desired trajectories. It was verified by computer simulation as well as experimentally using a laboratory-scale car-like robot model.
AB - This paper analyzes the performance and practical implementation of fuzzy-neural networks for the autonomous motion of mobile robots. The designed fuzzy-neural controller is a refined version of a conventional fuzzy controller, and was trained to optimize a given cost function minimizing positioning error. It was found that the mobile robot with fuzzy-neural controller presents good positioning and tracking performance for different types of desired trajectories. It was verified by computer simulation as well as experimentally using a laboratory-scale car-like robot model.
KW - Dynamic Back Propagation
KW - Fuzzy-Neural Control
KW - Mobile Robot
KW - Neural Network Training
UR - http://www.scopus.com/inward/record.url?scp=84894141365&partnerID=8YFLogxK
U2 - 10.1109/MICAI.2013.15
DO - 10.1109/MICAI.2013.15
M3 - Conference contribution
AN - SCOPUS:84894141365
SN - 9781479926053
T3 - Proceedings - 2013 12th Mexican International Conference on Artificial Intelligence, MICAI 2013
SP - 80
EP - 84
BT - Proceedings - 2013 12th Mexican International Conference on Artificial Intelligence, MICAI 2013
T2 - Proceedings - 2013 12th Mexican International Conference on Artificial Intelligence, MICAI 2013
Y2 - 24 November 2013 through 30 November 2013
ER -