基于小波神经网络的移动机器人路径跟踪控制

Path Following Control of Mobile Robot Based on Wavelet Neural Network

设计了基于小波神经网络的机器人路径跟踪系统,系统采用一步向前预测法建立基于小波神经网络的机器人运动模型,利用神经网络构成前馈反馈控制,完成路径跟踪任务。系统充分利用了小波神经网络良好的非线性函数逼近功能,达到了较好的效果。

The path following control system of mobile robot was designed based on wavelet neural network. The system uses the control method with one - step - ahead prediction to establish model and uses neural network to consist feed - forward feed- back control. This system made full use of the non - linear function approximation of wavelet neural network having better performance.