Neural Control for a Differential Drive Wheeled Mobile Robot Integrating Stereo Vision Feedback

Authors

  • Michel Lopez-Franco CINVESTAV - IPN
  • Edgar N. Sanchez CINVESTAV - IPN
  • Alma Y. Alanis Universidad de Guadalajara
  • Carlos López-Franco Universidad de Guadalajara

DOI:

https://doi.org/10.13053/cys-19-3-2016

Keywords:

Neural control, tracking control, differential drive steering, identifier, inverse optimal control

Abstract

This paper proposes a tracking control method for a differential drive wheeled mobile robot with nonholonomic constraints with an inverse optimal neural controller. It is based on two techniques: first, an identifier using a discrete-time recurrent high-order neural network (RHONN) trained with an extended Kalman filter (EKF) algorithm is employed; second, an inverse optimal control is used to avoid solving the Hamilton Jacobi Bellman (HJB) equation. The desired trajectory of the robot is computed during the navigation process using a stereo camera sensor.

Author Biographies

Michel Lopez-Franco, CINVESTAV - IPN

Was born in 1986 in Guadalajara, Jalisco, Mexico. He received the B.E. in Computer Engineering from the University of Guadalajara, Guadalajara, Mexico, in 2008, and the M.Sc. in Computer and Electrical Engineering from the Universityof Guadalajara, Guadalajara, Mexico, in 2011. He is a Ph.D. student in Automatic Control at CINVESTAV-IPN (Advanced Studies and Research Center of the NationalPolytechnic Institute), Guadalajara, Mexico. His currentresearch interests include optimal control, decentralized control, and adaptive and neural network controllers for dynamic systems.

Edgar N. Sanchez, CINVESTAV - IPN

Obtained the BSEE from Universidad Industrial de Santander (UIS), Bucaramanga, Colombia, in 1971, the MSEE from CINVESTAV-IPN (Advanced Studies and Research Center of the National Polytechnic Institute), Mexico City, Mexico, in 1974, and the Docteur Ingenieur degree in Automatic Control from Institut Nationale Polytechnique de Grenoble, France, in 1980. He was granted a USA National Research Council Award as a research associate at NASA Langley Research Center, Hampton, Virginia, USA (January 1985 to March 1987). His research interest centers in neural networks and fuzzy logic as applied to automatic control systems.  He has been advisor of 12 Ph.D. theses and 33 M.Sc. theses. Since January 1997, he has been professor of CINVESTAV-IPN, Guadalajara Campus, Mexico.

Alma Y. Alanis, Universidad de Guadalajara

Received the B.Sc. from Instituto Tecnologico de Durango (ITD), Durango Campus, Durango, Durango, in 2002, the M.Sc. and the Ph.D. in Electrical Engineering from the Advanced Studies and Research Center of the National Polytechnic Institute (CINVESTAV-IPN), Guadalajara Campus, Mexico, in 2004 and 2007, respectively. Since 2008 she has been with the University of Guadalajara, where she is currently a Chair Professor at the Department of Computer Science and a memberof the Intelligent Systems Research Group. She is also a member of the Mexican National Research System (SNI-1). Her research interest centers on neural control, backstepping control, block control, and their applications to electrical machines, power systems, and robotics.

Carlos López-Franco, Universidad de Guadalajara

eceived the Ph.D. in Computer Science in 2007 from the Center of Research and Advanced Studies, CINVESTAV, Mexico. He is currently a professor at the University of Guadalajara, Mexico, Computer Science Department, and a member of the Intelligent Systems Group. Hisresearch interests include geometric algebra, computer vision, robotics, and intelligent systems.

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Published

2015-09-30

Issue

Vol. 19 No. 3 (2015): 19(3) 2015 Thematic issue: Vision and Robotics (Guest editors: S. Ortega, A. Pedroza, O. Carbajal, B. Castillo Toledo)

Section

Articles

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