Journal Title
Title of Journal: Artif Life Robotics
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Abbravation: Artificial Life and Robotics
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Authors: Hiroshi Kinjo Eiho Uezato Sam Chau Duong Tetsuhiko Yamamoto
Publish Date: 2009/03/08
Volume: 13, Issue: 2, Pages: 464-469
Abstract
This article considers intelligent control for a class of nonholonomic systems using a neurocontroller NC and a genetic algorithm GA First we introduce the design of the NC with use of the GA and then we apply the NC to control two typical examples of nonholonomic systems a hopping robot in the flight phase and a fourwheel vehicle In order to verify the effectiveness of the control system the performance of the NC is investigated and also compared to that of the socalled direct gradient descent control DGDC approach which is able to utilize a GA with the same examples in the comparison Simulations show that the NC could achieve a competitive performance and control the nonholonomic systems effectively Furthermore the use of the NN and GA provide a straightforward solution for the problem without the need of the chained form conversion
Keywords:
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- Reverse engineering of spatial patterns in cellular automata
- A novel variable structure theory applied in design for wheeled mobile robots
- Reliable EOG signal-based control approach with EEG signal judgment
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- Erratum to: Hyper-gourd theory: solving simultaneously the mysteries in particle physics, biology, oncology, neurology, economics, and cosmology
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