Neural network architecture for trajectory generation and control of automated car parking

IEEE Transactions on Control Systems Technology

Volumn 4, Issue 1, 1996, Pages 50-56

  Gorinevsky, D ^a   Kapitanovsky, A ^a   Goldenberg, A ^a  

^a Engineering Services Inc   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER ARCHITECTURE; CONTROL SYSTEM ANALYSIS; FEEDBACK CONTROL; FEEDFORWARD NEURAL NETWORKS; LINEAR CONTROL SYSTEMS; MOTION CONTROL; NONLINEAR CONTROL SYSTEMS; PARKING; POSITION CONTROL;

AUTOMATED CAR PARKING SYSTEM; BACKWARD PARKING; TRAJECTORY GENERATION AND CONTROL;

CONTROL EQUIPMENT;

EID: 0029733822     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/87.481766     Document Type: Article

References (18)

1. A. M. Bloch, M. Reyhanoglu, and N. H. McClamroch, "Control and stabilization of nonholonomic dynamic systems," IEEE Trans. Automat. Contr., vol. 37, no. 11, pp. 1746-1757, 1992.
2. D. S. Broomhead and D. Lowe, "Multivariable functional interpolation and adaptive networks," Complex Syst., no. 2, pp. 321-355, 1988.
3. S. Chen and S. A. Billings, "Neural networks for nonlinear dynamic system modeling and identifications." Int. J. Contr., vol. 56, no. 2, pp. 319-346, 1992.
4. C. Fernandes, L. Gurvits, and Z. X. Li, "Foundations of nonholonomic motion planning," Robotics Res. Lab., Courant Inst. Math. Sci., Tech. Rep. TR 577 RR 253, 1991.
5. D. M. Gorinevsky, A. Kapitanovsky, and A. A. Goldenberg, "Radial basis function network architecture for nonholonomic motion planning and control of free-flying manipulators," IEEE Trans. Robotics Automat., 1995, to appear.
6. D. M. Gorinevsky, "On the approximate inversion of linear system and quadratic-optimal control," J. Comput. Syst. Sci. Int., vol. 30, no. 6, pp. 6-23, 1992.
7. D. M. Gorinevsky and T. H. Connolly, "Comparison of some neural network and scattered data approximations: The inverse manipulator kinematics example," Neural Compute., vol. 6, pp. 521-542, 1994.
8. D. M. Gorinevsky, "Learning and approximation in database for feedforward control of flexible-joint manipulator," in Proc. ICAR '91: 5th Int. Conf. Advanced Robotics, Pisa, Italy, 1991, pp. 688-692.
9. A. Kapitanovsky, A. Goldenberg, and J. Mills, "Design of smooth dynamic feedback for stabilization of nonholonomic systems," in Proc. 32nd IEEE CDC, 1993, pp. 965-970.
10. C. A. Micchelli, "Interpolation of scattered data: Distance matrices and conditionally positive definite functions," Const. Approx., vol. 2, pp. 11-22, 1986.
11. J. Moody and C. J. Darken, "Fast learning in networks of locally-tuned processing units," Neural Computa., vol. 2, no. 1, pp. 281-284, 1989.
12. R. M. Murray and S. S. Sastry, "Nonholonomic motion planning: Steering using sinusoids," IEEE Trans. Automat. Contr., vol. 38, no. 5, pp. 700-716, 1993.
13. D. H. Nguyen and B. Widrow, "Neural networks for self-learning control systems," Int. J. Contr., vol. 54, no. 6, pp. 1439-1451, 1991.
14. T. Poggio and F. Girosi, "Networks for approximation and learning," Proc. IEEE, vol. 78, no. 9, pp. 1481-1497, 1990.
15. C. Samson and K. Ait-Abderrahim, "Feedback stabilization of a nonholonomic wheeled mobile robot," in Proc. IEEE Int. Wkshp. IROS, 1991, pp. 1242-1247.
16. A. N. Tikhonov and V. Y. Arsenin, Methods for Solution of Ill-Posed Problems. Washington, D.C.: Halsted, 1977.
17. J. Vlassenbroeck and Van D. Rene, "A Chebyshev technique for solving nonlinear optimal control problems," IEEE Trans. Automat. Contr., vol. AC-33, no. 4, pp. 333-340, 1988.
18. G. Walsh, D. Tilbury, S. Sastry, R. Murray, and J. P. Laumond, "Stabilization of trajectories for systems with nonholonomic constraints," IEEE Trans. Automat. Contr., vol. 39, no. 1, pp. 216-222, 1994.