Integrated planning and control of mobile robot with self-organizing neural network

2003 ◽  
Author(s):  
Kian Hsiang Low ◽  
Wee Kheng Leow ◽  
M.H. Ang
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Integrated Planning ◽  
Planning And Control ◽  
And Control ◽  
Self Organizing

Intelligent Motion Planning and Control for Robotic Joints Using Bio-Inspired Spiking Neural Networks

2019 ◽  
Vol 16 (04) ◽  
pp. 1950012 ◽  
Author(s):  
Mircea Hulea ◽  
Adrian Burlacu ◽  
Constantin-Florin Caruntu
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Motion Planning ◽  
Control Method ◽  
Inhibitory Neurons ◽  
Robotic Arm ◽  
Control Approach ◽  
Planning And Control ◽  
Robotic Joints ◽  
And Control

This paper details an intelligent motion planning and control approach for a one-degree of freedom joint of a robotic arm that can be used to implement anthropomorphic robotic hands. This intelligent control method is based on bio-inspired electronic neural networks and contractile artificial muscles implemented with shape memory alloy (SMA) actuators. The spiking neural network (SNN) includes several excitatory neurons that naturally determine the contraction force of the actuators, and unevenly distributed inhibitory neurons that regulate the excitatory activity. To validate the proposed concept, the experiments highlight the motion planning and control of a single-joint robotic arm. The results show that the electronic neural network is able to intelligently activate motion and hold with high precision the mobile link to the target positions even if the arm is slightly loaded. These results are encouraging for the development of improved biologically plausible neural structures that are able to control simultaneously multiple muscles.

Differential Flatness-Based Robust Control of a Two-Wheeled Mobile Robot in the Presence of Slip

2008 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Differential Flatness ◽  
Robust Controllers ◽  
Robust Controller ◽  
Planning And Control ◽  
Tracking Controllers ◽  
Simulation Results ◽  
And Control

In this paper, we present two robust trajectory-tracking controllers for a differentially driven two-wheeled mobile robot using its kinematic and dynamic model in the presence of slip. The structure of the differential flatness-based controller, which is an integrated framework for planning and control, is extended in this paper to account for slip disturbances by adding a corrective control term. Simulation results for both kinematic and dynamic controllers are presented to demonstrate the effectiveness of the robust controllers. Experiments with the kinematic controller were conducted to validate the performance of the robust controller. The simulation and experimental results show that the robust controllers are very effective in the presence of slip.

Intelligent Motion Planning and Control for a Simulated Mobile Robot

1997 ◽  
Vol 30 (21) ◽  
pp. 351-356 ◽  
Author(s):  
Andon V. Topalov ◽  
Diana D. Tsankova ◽  
Michail G. Petrov ◽  
Todor Ph. Proychev
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Planning And Control ◽  
And Control

Path-based approach to integrated planning and control for robotic systems

Automatica ◽  
1996 ◽  
Vol 32 (12) ◽  
pp. 1675-1687 ◽  
Author(s):  
Tzyh-Jong Tarn ◽  
Ning Xi ◽  
Antal K. Bejczy
Keyword(s):  
Robotic Systems ◽  
Integrated Planning ◽  
Planning And Control ◽  
And Control
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