Neural Control for Driving a Mobile Robot Integrating Stereo Vision Feedback

作者：Lopez Franco Michel; Sanchez Edgar N^*; Alanis Alma Y; Lopez Franco Carlos

来源：Neural Processing Letters, 2016, 43(2): 425-444.

DOI：10.1007/s11063-015-9427-4

• Neural control
• Mobile robot
• Stereo vision
• Kalman filter
• Optimal control

This paper proposes a neural control integrating stereo vision feedback for driving a mobile robot. The proposed approach consists in synthesizing a suitable inverse optimal control to avoid solving the Hamilton Jacobi Bellman equation associated to nonlinear system optimal control. The mobile robot dynamics is approximated by an identifier using a discrete-time recurrent high order neural network, trained with an extended Kalman filter algorithm. The desired trajectory of the robot is computed during navigation using a stereo camera sensor. Simulation and experimental result are presented to illustrate the effectiveness of the proposed control scheme.

• 出版日期2016-4