Cognitive neural controller for mobile robot
Joint Authors
al-Araji, Ahmad Sabah Abd al-Amir
Daghir, Khulud Iskandar
Source
Iraqi Journal of Computer, Communications and Control Engineering
Issue
Vol. 15, Issue 1 (30 Apr. 2015), pp.46-60, 15 p.
Publisher
Publication Date
2015-04-30
Country of Publication
Iraq
No. of Pages
15
Main Subjects
Topics
Abstract EN
This paper proposes a cognitive neural controller to guide a nonholonomic mobile robot during continuous and non-continuous trajectory tracking and to navigate through static obstacles with collision-free and minimum tracking error.
The structure of the controller consists of two layers; the first layer is a neural network topology that controls the mobile robot actuators in order to track a desired path based on back-stepping technique and posture identifier.
The second layer of the controller is cognitive layer that collects information from the environment and plans the optimal path.
In addition to this, it detects if there is any obstacle in the path so it can be avoided by re-planning the trajectory using particle swarm optimization (PSO) technique.
The stability and convergence of control system are proved by using the Lyapunov criterion.
Simulation results and experimental work show the effectiveness of the proposed cognitive neural control algorithm; this is demonstrated by minimizing tracking error and obtaining the smooth torque control signal, especially when the robot navigates through static obstacles with collision-free and the external disturbances applied.
American Psychological Association (APA)
al-Araji, Ahmad Sabah Abd al-Amir& Daghir, Khulud Iskandar. 2015. Cognitive neural controller for mobile robot. Iraqi Journal of Computer, Communications and Control Engineering،Vol. 15, no. 1, pp.46-60.
https://search.emarefa.net/detail/BIM-582928
Modern Language Association (MLA)
al-Araji, Ahmad Sabah Abd al-Amir& Daghir, Khulud Iskandar. Cognitive neural controller for mobile robot. Iraqi Journal of Computer, Communications and Control Engineering Vol. 15, no. 1 (2015), pp.46-60.
https://search.emarefa.net/detail/BIM-582928
American Medical Association (AMA)
al-Araji, Ahmad Sabah Abd al-Amir& Daghir, Khulud Iskandar. Cognitive neural controller for mobile robot. Iraqi Journal of Computer, Communications and Control Engineering. 2015. Vol. 15, no. 1, pp.46-60.
https://search.emarefa.net/detail/BIM-582928
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 59-60
Record ID
BIM-582928