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Time-optimal feedback control of a non-holonomic vehicle using neural networks

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2 Author(s)
Gu Fang ; Sch. of Eng. & Ind. Design, Univ. of Western Sydney, NSW, Australia ; Dissanayake, G.

This paper presents a minimum-time feedback controller for maneuvering a non-holonomic vehicle. A trajectory planning algorithm that generates minimum-time trajectories for moving a vehicle from an arbitrary starting location to the origin is presented. Trajectories generated are used to train a neural network that computes instantaneous velocity and steering commands as a function of the current vehicle state. The proposed strategy is illustrated by developing a neural network based controller for backing up a truck. Computer simulations are presented that demonstrates the effectiveness of the proposed technique in the presence of disturbances.

Published in:

Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on  (Volume:3 )

Date of Conference:

2-5 Dec. 2002