![](/images/graphics-bg.png)
A cognitive system design for mobile robot based on an intelligent algorithm
Joint Authors
Ahmad, Attarid K.
al-Raji, Ahmad S.
Source
Iraqi Journal of Computer, Communications and Control Engineering
Issue
Vol. 18, Issue 2 (30 Sep. 2018), pp.1-16, 16 p.
Publisher
Publication Date
2018-09-30
Country of Publication
Iraq
No. of Pages
16
Main Subjects
Information Technology and Computer Science
Abstract EN
This paper presents a cognitive system based on a nonlinear Multi-Input Multi-Output (MIMO) Proportion Integral Derivative (PID) Modified Elman Neural Network (MENN) controller and the Square Road Map (SRM) method to guide the mobile robot during the continuous path-tracking with collision-free navigation through static obstacles.
The proposed cognitive system consists of two parts: the first part is to plan the desired path for the mobile robot with the static obstacle environment in order to determine the target point and to avoid the obstacles based on the proposed square road map algorithm.
The second part is to guide and track the wheeled mobile robot on the desired path equation based on the proposed nonlinear MIMO-PID-MENN controller with the intelligent algorithm.
The Particle Swarm Optimization (PSO) is used to on-line tune the variable control parameters of the proposed controller to get the optimal torques actions for the mobile robot platform.
Based on using the MATLAB package (2017), the numerical simulation results show that the proposed cognitive system has high accuracy for planning the desired path equation in terms of avoiding the static obstacles with smooth and short distance and generating a perfect torque action of (0.7 N.m) without a saturation state of (3.07 N.m), which leads to minimize the tracking pose error for the mobile robot to the zero value approximation.
These results were confirmed by a comparative study with different nonlinear PID controller types in terms of number of iterations and the performance index.
American Psychological Association (APA)
al-Raji, Ahmad S.& Ahmad, Attarid K.. 2018. A cognitive system design for mobile robot based on an intelligent algorithm. Iraqi Journal of Computer, Communications and Control Engineering،Vol. 18, no. 2, pp.1-16.
https://search.emarefa.net/detail/BIM-832992
Modern Language Association (MLA)
al-Raji, Ahmad S.& Ahmad, Attarid K.. A cognitive system design for mobile robot based on an intelligent algorithm. Iraqi Journal of Computer, Communications and Control Engineering Vol. 18, no. 2 (Sep. 2018), pp.1-16.
https://search.emarefa.net/detail/BIM-832992
American Medical Association (AMA)
al-Raji, Ahmad S.& Ahmad, Attarid K.. A cognitive system design for mobile robot based on an intelligent algorithm. Iraqi Journal of Computer, Communications and Control Engineering. 2018. Vol. 18, no. 2, pp.1-16.
https://search.emarefa.net/detail/BIM-832992
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 15-16
Record ID
BIM-832992