Mobile robot control using fuzzy-Gaussian neural networks

K. Watanabe, J. Tang, M. Nakamura, S. Koga, T. Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

A tracking control problem for the speed and azimuth of a mobile robot driven by two independent wheels is solved by using a fuzzy gaussian neural network (FGNN) controller. The computed torque control law is first derived to obtain some relationships between the driving torques and the plant output information. To simplify the FGNN controller for the two-input two-output controlled system, we propose a learning controller consisting of two FGNNs based on independent reasoning and a connection net with fixed weights. The effectiveness of the proposed method is illustrated by performing the simulation of a circular trajectory tracking control.

Original languageEnglish
Title of host publication1993 Int Conf Intell Rob Syst
Editors Anon
PublisherPubl by IEEE
Pages919-925
Number of pages7
ISBN (Print)0780308239
Publication statusPublished - Dec 1 1993
Externally publishedYes
Event1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap
Duration: Jul 26 1993Jul 30 1993

Publication series

Name1993 Int Conf Intell Rob Syst

Other

Other1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
CityYokohama, Jap
Period7/26/937/30/93

ASJC Scopus subject areas

  • Engineering(all)

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    Watanabe, K., Tang, J., Nakamura, M., Koga, S., & Fukuda, T. (1993). Mobile robot control using fuzzy-Gaussian neural networks. In Anon (Ed.), 1993 Int Conf Intell Rob Syst (pp. 919-925). (1993 Int Conf Intell Rob Syst). Publ by IEEE.