Artificial Neural Network in the Control Loop of a Wheeled Robot

Autor:	Oleg Glukhov, Dmitry Tsaregorodtsev, Natalia Masalkova, Roman Kulikov, Tatiana Brovko
Rok vydání:	2021
Předmět:	Artificial neural network Mean squared error business.industry Computer science Control theory Control system Computer Science::Neural and Evolutionary Computation Robot Tracking system Mobile robot business Tracking (particle physics) Bearing (navigation)
Zdroj:	2021 3rd International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE).
DOI:	10.1109/reepe51337.2021.9388047
Popis:	This paper describes the creation of a tracking system represented by a wheeled robot following a target (for example, a human). An artificial neural network (ANN) is used in the control loop of the robot to determine the range and bearing of the target, which are the tracking parameters. The main focus of the work is to develop a computer model of ANN capable of calculating near-optimal estimates of tracking parameters. In this case, the root mean square error (RMSE) of tracking parameter estimates is used as the criterion of efficiency of ANN operation. As a result, for the best ANN model the RMSE for the range was 0.009 m, and for the bearing was 1.006 degrees.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::588d34a875a67d7a74c7bb522bc8303f https://doi.org/10.1109/reepe51337.2021.9388047 Zobrazit plný text záznamu