NEURAL PREDICTIVE CONTROL FOR MOBILE ROBOT NAVIGATION IN A PARTIALLY STRUCTURED STATIC ENVIRONMENT

This paper describes a method for implementing a Model Based Predictive Controller (MBPC) for mobile robot navigation in the presence of unexpected obstacles. The controller computes an artificial neural network which is shown to be effective in implementing the path tracking predictive algorithm.

• Supplemental Notes:
  • Publication Date: 1997 Published By: Elsevier Science, Tarrytown NY
• Corporate Authors:

  Politecnico di Milano. Dipartimento di elettronica e informazione

  ,    

  Technische Hochschule Darmstadt

  Darmstadt,   Germany 

  Universita di Pisa

  ,    

  Ecole Polytechnique de Montreal

  P.O. Box 6079, Station Centre-Ville
  Montreal, Quebec  Canada  H3C 3A7

  University of California, Los Angeles

  Department of Mechanical, Aerospace and Nuclear Engineering
  Los Angeles, CA  United States 

  Tokyo Noko Daigaku

  ,    

  Daimler-Benz Forschungszentrum

  ,    

  Universidad de Sevilla. Departamento de Ingenieria de Sistemas y Automatica

  ,    

  Meiji Daigaku

  ,    
• Authors:
  • Gomez Ortega, J
  • Camacho, Eduardo Fernandez
• Conference:
  • International Federation of Automatic Control. World Congress (13th : 1996 : San Francisco Calif.). Proceedings Vol. Q
• Publication Date: 1997

Language

• English

Media Info

• Pagination: p. 429-434

Subject/Index Terms

• TRT Terms: Neural networks; Robotics
• Subject Areas: Data and Information Technology;

Filing Info

• Accession Number: 00788083
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Files: PATH
• Created Date: Nov 17 2000 12:00AM