OBSTACLE AVOIDANCE AND MOTION CONTROL OF A TWO WHEELED MOBILE ROBOT USING SVR TECHNIQUE

被引：0
|
作者：
Jiang, Lihua [1 ]
Deng, Mingcong [1 ]
Inoue, Akira [1 ]
机构：
[1] Okayama Univ, Grad Sch Nat Sci & Technol, Okayama 7008530, Japan
来源：
INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL | 2009年 / 5卷 / 02期
关键词：
Lyapunov function; Local minima; Support vector regression; Mobile robot; Obstacle;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Support vector regression (SVR) based obstacle avoidance and control of a two wheeled mobile robot are considered in this paper. Under the observation information with uncertainties, a method based on the SVR technique is proposed for providing reliable control information in order to control the mobile robot by using a potential function, where the potential function is based on Lyapunov function and the flat plane is constructed to avoid the local minima for compensating the Lyapunov function. As a result, the motion of the mobile robot can be controlled accurately and smoothly. The proposed scheme is evaluated by demonstrating numerical simulation results.
引用
收藏
页码：253 / 262
页数：10
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