Velocity control of an omnidirectional robocup player with recurrent neural networks

Authors:
Mohamed Oubbati;Michael Schanz;Thorsten Buchheim;Paul Levi
Affiliations:
Institute of Parallel and Distributed Systems, University of Stuttgart, Stuttgart, Germany;Institute of Parallel and Distributed Systems, University of Stuttgart, Stuttgart, Germany;Institute of Parallel and Distributed Systems, University of Stuttgart, Stuttgart, Germany;Institute of Parallel and Distributed Systems, University of Stuttgart, Stuttgart, Germany
Venue:
RoboCup 2005
Year:
2006

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Abstract

In this paper, a recurrent neural network is used to develop a dynamic controller for mobile robots. The advantage of the control approach is that no knowledge about the robot model is required. This property is very useful in practical situations, where the exact knowledge about the robot parameters is almost unattainable. The proposed approach has been experimentally tested on an Omnidirectional RoboCup Player available at the Robotics Lab of the University of Stuttgart.