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Modeling and control of mobile robots and intelligent vehicles by neural networks

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4 Author(s)
Rivals, I. ; Unite R&D, SAGEM Eragny, France ; Canas, D. ; Personnaz, L. ; Dreyfus, G.

This paper introduces the four-wheel-drive vehicle REMI, a testbed developed by SAGEM for research purposes in mobile robotics and intelligent car systems. The motion control architecture of the robot is presented, with an emphasis on the guidance and piloting modules. The latter relies on neural network techniques, and the principles underlying its design are outlined. A robust neural control scheme using an internal model of the process is developed. Experimental results are presented.

Published in:

Intelligent Vehicles '94 Symposium, Proceedings of the

Date of Conference:

24-26 Oct. 1994

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