The Azimuth and Velocity Control of a Movile Robot with Two Drive Wheel by Neutral-Fuzzy Control Method

J. Ocean Eng. Technol. 1997;11(1):84-94.

뉴럴-퍼지제어기법에 의한 두 구동휠을 갖는 이동 로봇의 자세 및 속도 제어

한성현

경남대학교 공과대학 기계설계학과

Keywords: Azimuth, Back Propagation Algorithm, Neural-Fuzzy Control, Membership Function, Supervised Learning, Reinforcement Learning

핵심용어: 방향각, 역전파 알고리즘, 뉴럴-퍼지제어, 맴버쉽함수, 지도학습, 보강학습

Abstract

This paper presents a new approach to the design speed and azimuth control of a mobile robot with drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the frmework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simple the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.