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Real-Time Neural Control of Mobile Robots

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Control and Systems Engineering

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 27))

Abstract

This chapter presents two application in real-time using neural controls for mobile robots. First, a decentralized inverse optimal neural control is developed for a Shrimp robot, which is a kind of mobile robot with has terrain adaptability. Additionally, a neural control is designed for driving a nonholonomic mobile robot integrating stereo vision feedback. The desired trajectory of the robot is computed during the navigation process using the stereo camera sensor. The proposed neural control approaches are based on discrete-time High Order Neural Networks (RHONN’s) trained with an extended Kalman filter (EKF).

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Author information

Authors and Affiliations

  1. CINVESTAV, Unidad Guadalajara, Jalisco, Mexico

    Edgar N. Sanchez & Michel Lopez-Franco

  2. CUCEI, Universidad de Guadalajara, Jalisco, Mexico

    Alma Y. Alanis, Nancy Arana-Daniel & Carlos Lopez-Franco

Authors
  1. Edgar N. Sanchez
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  2. Alma Y. Alanis
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  3. Michel Lopez-Franco
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  4. Nancy Arana-Daniel
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  5. Carlos Lopez-Franco
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Corresponding author

Correspondence to Edgar N. Sanchez .

Editor information

Editors and Affiliations

  1. Electrical Engineering Department, New Mexico Institute of Mining and Technology, Socorro, New Mexico, USA

    Aly El-Osery

  2. Electrical and Computer Engineering Department, The University of Texas at San Antonio, San Antonio, Texas, USA

    Jeff Prevost

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Sanchez, E.N., Alanis, A.Y., Lopez-Franco, M., Arana-Daniel, N., Lopez-Franco, C. (2015). Real-Time Neural Control of Mobile Robots. In: El-Osery, A., Prevost, J. (eds) Control and Systems Engineering. Studies in Systems, Decision and Control, vol 27. Springer, Cham. https://doi.org/10.1007/978-3-319-14636-2_11

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  • DOI: https://doi.org/10.1007/978-3-319-14636-2_11

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-14635-5

  • Online ISBN: 978-3-319-14636-2

  • eBook Packages: EngineeringEngineering (R0)

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