The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 28-662
Full Name: Gokhan Bayar
Position: Ph.D. Candidate
Age: ON
Sex: Male
Address: Orta Dogu Teknik Universitesi Makina Muhendisligi Bolumu C-204
Country: TURKEY
Tel: +90-312-210 5273
Tel prefix:
Fax: +90-312-210 2536
E-mail address: bayar@metu.edu.tr
Other E-mails: gbayar@gmail.com
Title of the Paper: Control of a Differentially Driven Mobile Robot Using Radial Basis Function Based Neural Networks
Authors as they appear in the Paper: Gokhan Bayar, E. ilhan Konukseven, A. Bugra Koku
Email addresses of all the authors: bayar@metu.edu.tr, konuk@metu.edu.tr, kbugra@metu.edu.tr
Number of paper pages: 12
Abstract: This paper proposes the use of radial basis function neural networks approach to the solution of a mobile robot orientation adjustment using reinforcement learning. In order to control the orientation of the mobile robot, a neural network control system has been constructed and implemented. Neural controller has been charged to enhance the control system by adding some degrees of award. Making use of the potential of neural networks to learn the relationships, the desired reference orientation and the error position of the mobile robot are used in training. The radial basis function based neural networks have been trained via reinforcement learning. The performance of the proposed controller and learning system has been evaluated by using a mobile robot that consists of a two driving wheels mounted on the same axis, and a free wheel on the front for balance.
Keywords: Mobile robot, control, neural networks, radial basis function, learning, trajectory
EXTENSION of the file: .pdf
Special (Invited) Session: Mobile Robot Heading Adjustment Using Radial Basis Function Neural Networks Controller and Reinforcement Learning
Organizer of the Session: 593-574
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