Adaptive Kinematic Control of Mobile Robot based on Neural Networks

Zeyad Yousif Abdoon Al-Shibaany

ISBN 10: 365978771X / ISBN 13: 9783659787713

Verlag: LAP LAMBERT Academic Publishing Nov 2015, 2015

Beschreibung

Neuware -The applications of mobile robots have grown significantly during the last few years due to the fast development in sensors and microprocessors systems. These applications include material handling, hospital services, military applications ¿ etc. The need for a precise motion control becomes very crucial in order to support such applications. The adaptive motion control for mobile robot is one of the important areas of research. The design of an adaptive kinematic controller for a nonholonomic differential drive mobile robot based on neural network topology is considered in this work, and work is divided into three stages. Firstly, to identify the inverse kinematics behavior of the differential drive mobile robot system, the Multi-Layer Perceptron neural network has been used. The second stage is the simulation test to check the robustness of the controller. The final stage is the practical work. A National Instrument differential drive mobile robot platform has been used which is perfectly compatible with the LabVIEW2011 software. The controller is implemented in LabVIEW2011 and then deployed to the mobile robot kit through a wireless communication.Books on Demand GmbH, Überseering 33, 22297 Hamburg 124 pp. Englisch.

Bestandsnummer des Verkäufers 9783659787713

Bibliografische Details

• Titel: Adaptive Kinematic Control of Mobile Robot based on Neural Networks
• Verlag: LAP LAMBERT Academic Publishing Nov 2015
• Erscheinungsjahr: 2015
• Sprache: Englisch
• ISBN-10: 365978771X
• ISBN-13: 9783659787713
• Einband: Taschenbuch
• Zustand: Neu
• Abmessungen: 220B x 150 H x 8 T Millimeter Breite: 220 mm, Höhe: 150 mm, Tiefe: 8 mm
• Gewicht: 203 Gramm

Über diesen Titel

Inhaltsangabe

The applications of mobile robots have grown significantly during the last few years due to the fast development in sensors and microprocessors systems. These applications include material handling, hospital services, military applications … etc. The need for a precise motion control becomes very crucial in order to support such applications. The adaptive motion control for mobile robot is one of the important areas of research. The design of an adaptive kinematic controller for a nonholonomic differential drive mobile robot based on neural network topology is considered in this work, and work is divided into three stages. Firstly, to identify the inverse kinematics behavior of the differential drive mobile robot system, the Multi-Layer Perceptron neural network has been used. The second stage is the simulation test to check the robustness of the controller. The final stage is the practical work. A National Instrument differential drive mobile robot platform has been used which is perfectly compatible with the LabVIEW2011 software. The controller is implemented in LabVIEW2011 and then deployed to the mobile robot kit through a wireless communication.