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Vol. 157, Issue 10, October 2013, pp. 42-50




Design of Visual Feedback Tracking Algorithm for Nonholonomic Mobile Robots Based on Neural Network
1 Huang Xuan, 2 Wenhua Zeng

1 Cognitive Science Department, Xiamen University, Xiamen, China, 361005

1 Fujian Key Laboratory of the Brain-like Intelligent Systems, Xiamen University, China, 361005

1 Zhang Zhou institute of technology, Zhang Zhou, China, 363000

2 School of Software, Xiamen University, Xiamen, China, 361005


Received: 16 August 2013   /Accepted: 25 September 2013   /Published: 31 October 2013

Digital Sensors and Sensor Sysstems


Abstract: With the rapid development of the computer and the electronic technique, the application of robots has been widen. The robot visual serving control system may mimic the human eyes. Then the vision information is used as a feedback to improve the ability of the robot adaption to the environment. However, traditional algorithms which need the calibration of visual parameters spend much time and become technical bottlenecks. This paper presents the development background of the robot and the concept of nonholonomic mobile robots with visual servoing feedback. Second, the deficiency exists in traditional algorithms and fuzzy controller. Third, BP neural network PID is proposed to design controller. Combining BP neutral network with PID controller is used to manipulate mobile robots firstly. The complex deduces of common tracking controllers is simplified and tracking control problem with non calibrated virtual parameters is solved. Finally, we program the simulation code. The simulation results show that the method is effective.


Keywords: Mobile Robot, Uncalibrated Visual Servoing, Stabilization, BP neural network PID.


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