Real-Time Inverse Optimal Neural Control for Image Based Visual Servoing with Nonholonomic Mobile Robots

Carlos López-Franco, Michel López-Franco, Alma Y. Alanis, Javier Gómez-Avila and Nancy Arana-Daniel

Mathematical Problems in Engineering, 2015, vol. 2015, 1-12

Abstract:

We present an inverse optimal neural controller for a nonholonomic mobile robot with parameter uncertainties and unknown external disturbances. The neural controller is based on a discrete-time recurrent high order neural network (RHONN) trained with an extended Kalman filter. The reference velocities for the neural controller are obtained with a visual sensor. The effectiveness of the proposed approach is tested by simulations and real-time experiments.

Date: 2015
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:347410

DOI: 10.1155/2015/347410

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