INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Adaptive critic design-based optimal control of mobile robots navigation
Autor/es:
DANIEL PATIÑO; RICARDO CARELLI
Lugar:
San Nicolás
Reunión:
Simposio; Reunión de Procesamiento de la Información y Control, RPIC´03; 2003
Institución organizadora:
UTN - San Nicolás
Resumen:
This paper addresses the problem of generating autonomously and optimal control action sequence for autonomous vehicles based on Artificial Neural Networks (ANN). The principal objective is to autonomously design an optimal controller that steers the center of the vehicle through a number of via points in a particular order using a minimum amount of time. In general, the steering of robotic vehicles depend on the interactions between the vehicle and its supporting medium. Plannning for the future encounters with the via points should be part of the current control decision, since the vehicle´s position and orientation as it moves greatly alter the case of navigation through successive points.
