Application of neural models as controllers in mobile robot velocity control loop

Jakub Cerkala, Anna Jadlovska

   This paper presents the application of an inverse neural models used as controllers in comparison to classical PI controllers for velocity tracking control task used in two-wheel, differentially driven mobile robot. The PI controller synthesis is based on linear approximation of actuators with equivalent load. In order to obtain relevant datasets for training of feed-forward multi-layer perceptron based neural network used as neural model, the mathematical model of mobile robot, that combines its kinematic and dynamic properties such as chassis dimensions, center of gravity offset, friction and actuator parameters is used. Neural models are trained off-line to act as an inverse dynamics of DC motors with particular load using data collected in simulation experiment for motor input voltage step changes within bounded operating area. The performances of PI controllers versus inverse neural models in mobile robot internal velocity control loops are demonstrated and compared in simulation experiment of navigation control task for line segment motion in plane.

Keywords: mathematical model, mobile robot, MLP neural network, direct-inverse control, posture control, DC motor

[full-paper]