Research on Wheeled Robot Path Tracking Based on Fuzzy Neural Network

Shuo Yang; Bo Quan Zhang; Mao Ying Jia

doi:10.4028/www.scientific.net/AMM.602-605.1270

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 602-605Research on Wheeled Robot Path Tracking Based on...

Research on Wheeled Robot Path Tracking Based on Fuzzy Neural Network

Abstract:

To solve the problem that wheeled robot in the path tracking is prone to slip or roll over at a sharp curve, structure of the wheeled robot and its path tracking features are analyzed, and a new Fuzzy-Neural Network (FNN) based path tracking method of two-stage (route and speed) control is proposed. In the first stage, a FNN controller determines the robot’s turning radius by processing robot’s pose information. In the second stage, the secondary controller adjusts angular and linear velocities by taking advantage of the turning radius and condition of the path ahead. The experiments show that the controlled robot can track the planned path accurately and robustly when it runs at high speed; the process of path tracking is stable and no slipping and rolling occur.

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Periodical:

Applied Mechanics and Materials (Volumes 602-605)

Pages:

1270-1274

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.602-605.1270

Citation:

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Online since:

August 2014

Authors:

Shuo Yang*, Bo Quan Zhang, Mao Ying Jia

Keywords:

Fuzzy Neural Network (FNN), Hierarchical Control, Path Tracking, Wheeled Robot

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* - Corresponding Author

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