Real-Time Inverse Optimal Neural Control for Image Based Visual Servoing with Nonholonomic Mobile Robots
Joint Authors
López-Franco, Carlos
López-Franco, Michel
Gómez-Avila, Javier
Arana-Daniel, Nancy
Alanis, Alma Y.
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-18
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
We present an inverse optimal neural controller for a nonholonomic mobile robot with parameter uncertainties and unknown external disturbances.
The neural controller is based on a discrete-time recurrent high order neural network (RHONN) trained with an extended Kalman filter.
The reference velocities for the neural controller are obtained with a visual sensor.
The effectiveness of the proposed approach is tested by simulations and real-time experiments.
American Psychological Association (APA)
López-Franco, Carlos& López-Franco, Michel& Alanis, Alma Y.& Gómez-Avila, Javier& Arana-Daniel, Nancy. 2015. Real-Time Inverse Optimal Neural Control for Image Based Visual Servoing with Nonholonomic Mobile Robots. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1073558
Modern Language Association (MLA)
López-Franco, Carlos…[et al.]. Real-Time Inverse Optimal Neural Control for Image Based Visual Servoing with Nonholonomic Mobile Robots. Mathematical Problems in Engineering No. 2015 (2015), pp.1-12.
https://search.emarefa.net/detail/BIM-1073558
American Medical Association (AMA)
López-Franco, Carlos& López-Franco, Michel& Alanis, Alma Y.& Gómez-Avila, Javier& Arana-Daniel, Nancy. Real-Time Inverse Optimal Neural Control for Image Based Visual Servoing with Nonholonomic Mobile Robots. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1073558
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073558
