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Neural Processing Letters

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01-04-2016

Neural Control for Driving a Mobile Robot Integrating Stereo Vision Feedback

Authors: Michel Lopez-Franco, Edgar N. Sanchez, Alma Y. Alanis, Carlos López-Franco

Published in: Neural Processing Letters | Issue 2/2016

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Abstract

This paper proposes a neural control integrating stereo vision feedback for driving a mobile robot. The proposed approach consists in synthesizing a suitable inverse optimal control to avoid solving the Hamilton Jacobi Bellman equation associated to nonlinear system optimal control. The mobile robot dynamics is approximated by an identifier using a discrete-time recurrent high order neural network, trained with an extended Kalman filter algorithm. The desired trajectory of the robot is computed during navigation using a stereo camera sensor. Simulation and experimental result are presented to illustrate the effectiveness of the proposed control scheme.

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Title: Neural Control for Driving a Mobile Robot Integrating Stereo Vision Feedback
Authors: Michel Lopez-Franco
Edgar N. Sanchez
Alma Y. Alanis
Carlos López-Franco
Publication date: 01-04-2016
Publisher: Springer US
Published in: Neural Processing Letters / Issue 2/2016
Print ISSN: 1370-4621
Electronic ISSN: 1573-773X
DOI: https://doi.org/10.1007/s11063-015-9427-4

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