MOBILE ROBOT CONTROL

What is it about?

This paper describes a novel application of mobile robot technology to the construction of mobility for the frail blind. Trajectory control of an experimental mobile robot using proposed neural network based controller structure for frail blind persons is presented. The robot is a non-holonomic experimental mobile robot with all electronic equipment. A prescribed double triangle reference trajectory is employed to test the robot with proposed controller structure for following the exact trajectory of blind disable persons. The gain parameters of the P controller are tuned with a neural network. The results of the proposed adaptive neural network based P controller have improved that this controller has superior performance at adapting large disturbances on the mobile robot.

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Why is it important?

The interest of mobile robots in scientific studies has been increasing rapidly due to the width of the potential of applications. These robots can perform various actions wisely without human intervention. A mobile robot is suitable for many types of applications that require high autonomy in unstructured environments. When we look out this definition, it is understood that the performance of tracking prescribed trajectories is very important. Therefore, research on mobile robots has increased in the last decade due to these automatic and intelligent behaviors.

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