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Research on Neural Network Control for Wheeled Mobile Robots

Author: LiuWeiMiao
Tutor: HeZuoZuo
School: Chang'an University
Course: Traffic Information Engineering \u0026 Control
Keywords: Mobile robots kinematic model dynamic model trajectory following control sliding mode control NN-PID control
CLC: TP242
Type: Master's thesis
Year: 2007
Downloads: 193
Quote: 1
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Abstract


Mobile robot is an important branch of robotics. The motion control is also one important research aspect of the mobile robot. With the continuous progress of robot’s technology, mobile robot represents the development of information technology, automation technology, system integration technology to some extent. The research makes a deep and systematic study of multi-aspect of the robot’s motion control and path planning based on the Pioneer 3-AT robot which is made by ActivMedia Robotics company. The contents are as follows:Kinematic and dynamic model of the two kinds of mobile robots are designed, which are the mobile robots driven and steered by front wheel and the mobile robots driven by two different rear wheels.The path planning for mobile robots are studied.The controller of stabilization and trajectory following and path following for mobile robots are studied on Lyapunov method and on silding mode control theory..The path following controller for mobile robots are designed on NN-PID method compared with PID method only. The simulation and experiment results show that the designed controller are valid, mobile robots can follow the given path accurately.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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