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Real-Time Inverse Optimal Neural Control for Image Based Visual Servoing with Nonholonomic Mobile Robots

Author

Listed:
  • Carlos López-Franco
  • Michel López-Franco
  • Alma Y. Alanis
  • Javier Gómez-Avila
  • Nancy Arana-Daniel

Abstract

We present an inverse optimal neural controller for a nonholonomic mobile robot with parameter uncertainties and unknown external disturbances. The neural controller is based on a discrete-time recurrent high order neural network (RHONN) trained with an extended Kalman filter. The reference velocities for the neural controller are obtained with a visual sensor. The effectiveness of the proposed approach is tested by simulations and real-time experiments.

Suggested Citation

  • Carlos López-Franco & Michel López-Franco & Alma Y. Alanis & Javier Gómez-Avila & Nancy Arana-Daniel, 2015. "Real-Time Inverse Optimal Neural Control for Image Based Visual Servoing with Nonholonomic Mobile Robots," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-12, May.
    • Handle: RePEc:hin:jnlmpe:347410
    DOI: 10.1155/2015/347410
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