Robust Optimal Navigation Using Nonlinear Model Predictive Control Method Combined with Recurrent Fuzzy Neural Network
المؤلفون المشاركون
Han, Yu
Xiao, Yao
Cai, Chengtao
Zhu, Qidan
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-19، 19ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-08-13
دولة النشر
مصر
عدد الصفحات
19
التخصصات الرئيسية
الملخص EN
This paper presents a novel navigation strategy of robot to achieve reaching target and obstacle avoidance in unknown dynamic environment.
Considering possible generation of uncertainty, disturbances brought to system are separated into two parts, i.e., bounded part and unbounded part.
A dual-layer closed-loop control system is then designed to deal with two kinds of disturbances, respectively.
In order to realize global optimization of navigation, recurrent fuzzy neural network is used to predict optimal motion of robot for its ability of processing nonlinearity and learning.
Extended Kalman filter method is used to train RFNN online.
Moving horizon technique is used for RFNN motion planner to guarantee optimization in dynamic environment.
Then, model predictive control is designed against bounded disturbances to drive robot to track predicted trajectories and limit robot’s position in a tube with good robustness.
A novel iterative online learning method is also proposed to estimate intrinsic error of system using online data that makes system adaptive.
Feasibility and stability of proposed method are analyzed.
By examining our navigation method on mobile robot, effectiveness is proved in both simulation and hardware experiments.
Robustness and optimization of proposed navigation method can be guaranteed in dynamic environment.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Zhu, Qidan& Han, Yu& Cai, Chengtao& Xiao, Yao. 2018. Robust Optimal Navigation Using Nonlinear Model Predictive Control Method Combined with Recurrent Fuzzy Neural Network. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-19.
https://search.emarefa.net/detail/BIM-1209102
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Zhu, Qidan…[et al.]. Robust Optimal Navigation Using Nonlinear Model Predictive Control Method Combined with Recurrent Fuzzy Neural Network. Mathematical Problems in Engineering No. 2018 (2018), pp.1-19.
https://search.emarefa.net/detail/BIM-1209102
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Zhu, Qidan& Han, Yu& Cai, Chengtao& Xiao, Yao. Robust Optimal Navigation Using Nonlinear Model Predictive Control Method Combined with Recurrent Fuzzy Neural Network. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-19.
https://search.emarefa.net/detail/BIM-1209102
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1209102
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر