Real-time navigational control of mobile robots using an artificial neural network

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Volumn 223, Issue 7, 2009, Pages 1713-1725

  Parhi, D R ^a   Singh, M K ^b  

^a NATIONAL INSTITUTE OF TECHNOLOGY   (India)

^b Government Engineering College Bilaspur   (India)

Author keywords

Artificial neural network; Behavioural robotics; Evolutionary robotics; Mobile robot

Indexed keywords

ARRAY OF SENSORS; ARTIFICIAL NEURAL NETWORK; AUTONOMOUS ROBOT; BEHAVIOURAL ROBOTICS; COGNITIVE TASK; CONTROL PERFORMANCE; DESIGN OF CONTROL SYSTEM; EVOLUTIONARY ROBOTICS; EXPERIMENTAL SETUP; FOUR-LAYER NEURAL NETWORKS; NEURAL CONTROLLER; NEURAL NET; OBSTACLE DISTANCE; REACTIVE CONTROL; REAL-WORLD; SIMULATION RESULT; TARGET ANGLE; TIME-OPTIMIZATION PROBLEMS; UNKNOWN ENVIRONMENTS;

BACKPROPAGATION; CONTROLLERS; MACHINE DESIGN; MOBILE ROBOTS; NAVIGATION; NEURAL NETWORKS; TARGETS; WIRELESS NETWORKS;

ROBOTICS;

EID: 69249111735     PISSN: 09544062     EISSN: None     Source Type: Journal    
DOI: 10.1243/09544062JMES1410     Document Type: Article

References (18)

1. Nelson, A. L., Grant, E., and Henderson, T. C. Evolution of neural controllers for competitive game playing with teams of mobile robots. Robot. Auton. Syst., 2004, 46, 135-150.
2. Parhi, D. R., Pradhan, S. K., Panda, A. K., and Behra, R. K. The stable and precise motion control for multiple mobile robots. Appl. Soft Comput., 2009, 9, 477-487.
3. Pradhan, S. K.,Parhi,D. R., and Panda, A. K. Fuzzy logic techniques for navigation of several mobile robots. Appl. Soft Comput., 2009, 9, 290-304.
4. Wolf, D. F. and Sukhatme, G. S. Semantic mapping using mobile robots. IEEE Trans. Robot., 2008, 24(2), 245-258.
5. Gregor, K. and Igor, S. Tracking-error model-based predictive control for mobile robots in real time. Robot. Auton. Syst., 2007, 55, 460-469.
6. Folgheraiter, M., Gini, G., Nava, A., and Mottola, N. A BioInspired neural controller for a mobile robot. In Proceedings of the IEEE International Conference on Robotics and biomimetics, Kunming, China, 17-20 December 2006, pp. 1646-1651.
7. Muñiz, F., Zalama, E., Gaudiano, P., and López Coronado, J. Neural controller for a mobile robot in a nonstationary environment. In Proceedings of the 2nd IFAC Conference on Intelligent autonomous vehicles,Helsinki, 12-14 June 1995, pp. 1-7.
8. Kondo, T. Evolutionary design and behavior analysis of neuromodulatory neural networks for mobile robots control. Appl. Soft Comput., 2007, 7, 189-202.
9. Corradini, M. L., Ippoliti, G., and Longhi, S. Neural networks based control of mobile robots: development and experimental validation. J. Robot. Syst., 2003, 20(10), 587-600.
10. Racz, J. and Dubrawski, A. Artificial neural network for mobile robot topological localization.Robot.Auton. Syst., 1995, 16, 73-80.
11. Yang, S. X. and Meng, M. An efficient neural network approach to dynamic robot motion planning. Neural Netw., 2000, 13, 143-148.
12. Braganza, D., Dawson, D. M.,Walker, I. D., and Nath, N. A neural network controller for continuum robots. IEEE Trans. Robot., 2007, 23, 1270-1277.
13. Pallottino, L., Scordio, V. G., Bicchi, A., and Frazzoli, E. Decentralized cooperative policy for conflict resolution in multivehicle systems. IEEE Trans. Robot., 2007, 23(6), 1170-1183.
14. Ray, A. K., Behera, L., and Jamshidi, Mo. Sonar-based rover navigation for single or multiple platforms: forward safe path and target switching approach. IEEE Syst. J., 2008, 2(2), 258-272.
15. Zhang, Q., Shippen, J., and Jones, B. Robust backstepping and neural network control of a low quality nonholonomic mobile robot. Int. J. Mach. Tools Manuf., 1999, 39, 1117-1134.
16. Das, T. and Kar, I. N. Design and implementation of an adaptive fuzzy logic-based controller for wheeled mobile robots. IEEE Trans. Control Syst. Technol., 2006, 14(3), 501-510.
17. Haykin, S. Neural networks a comprehensive foundation, 2nd edition, 1999 (Prentice-Hall, Englewood Cliffs, NJ).
18. Parhi, D. R. Navigation of multiple mobile robots in an unknown environment. Doctoral Thesis, Cardiff School of Engineering, University ofWales, UK, 2000.