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Biologically Inspired Neural Behavioral Control of the Wheeled Mobile Robot

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Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques (AUTOMATION 2021)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1390))

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Abstract

In this paper, to solve the task of neural behavioral control of a 2-wheeled mobile robot (WMR), a hierarchical structure is used. At higher levels of the hierarchic generate a desired trajectory of mobile robot motion based on the artificial potential field theory. The generated trajectory is a desired trajectory realized by the neural control algorithm, implemented on the lower level of the hierarchy. Correctness of the solution of the desired trajectory generator and the control system of the elementary robot behavior has been confirmed in numerical simulations.

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Author information

Authors and Affiliations

  1. Rzeszow University of Technology, al. Powstańców Warszawy 12, 35-959, Rzeszów, Poland

    Paweł Penar & Zenon Hendzel

Authors
  1. Paweł Penar
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  2. Zenon Hendzel
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Corresponding author

Correspondence to Paweł Penar .

Editor information

Editors and Affiliations

  1. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Roman Szewczyk

  2. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Cezary Zieliński

  3. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Małgorzata Kaliczyńska

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Penar, P., Hendzel, Z. (2021). Biologically Inspired Neural Behavioral Control of the Wheeled Mobile Robot. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques. AUTOMATION 2021. Advances in Intelligent Systems and Computing, vol 1390. Springer, Cham. https://doi.org/10.1007/978-3-030-74893-7_10

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