| Institut des Systèmes Intelligents et de Robotique |  |
| Institut des Systèmes Intelligents et de Robotique | |
| HAL : hal-00687644, version 1 |
| DOI : 10.1109/IROS.2010.5651397 |
| Fiche détaillée |  Récupérer au format |
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| IROS 2010, Taïwan, Province De Chine (2010) |
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| Stochastic optimization of a neural network-based controller for aggressive maneuvers on loose surfaces |
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| Alexander Terekhov 1Jean-Baptiste Mouret 1 |
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| (2010) |
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| In this study we develop a feedback controller for a four wheeled autonomous mobile robot. The purpose of the controller is to guarantee robust performance of an aggressive maneuver (90 degrees turn) at high velocity (about 10 m/s) on a loose surface (dirty road). To tackle this highly nonlinear control problem, we employ multi-objective evolutionary algorithms to explore and optimize the parameters of a neural network-based controller. The obtained controller is shown to be robust with respect to uncertainties of the robot parameters, speed of the maneuver and properties of the ground. The controller is tested using two mathematical models of significantly different complexity and accuracy. |
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| 1 : | Institut des Systèmes Intelligents et Robotique (ISIR) |
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CNRS : UMR7222 – Université Pierre et Marie Curie [UPMC] - Paris VI |
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| Domaine | : | Informatique/Intelligence artificielle Sciences de l'ingénieur/Automatique / Robotique |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00687644, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00687644 | |
| oai:hal.archives-ouvertes.fr:hal-00687644 | |
| Contributeur : Jean-Baptiste Mouret | |
| Soumis le : Lundi 16 Avril 2012, 11:23:59 | |
| Dernière modification le : Lundi 16 Avril 2012, 11:40:30 | |
