Control of a Robotic Wheelchair Using Recurrent Networks

Authors:
Luciano Boquete;Rafael Barea;Ricardo García;Manuel Mazo;M. Angel Sotelo
Affiliations:
Electronics Department, Alcalá University, 28801 Spain. luciano@depeca.uah.es luciano.boquete@uah.es;Electronics Department, Alcalá University, 28801 Spain;Electronics Department, Alcalá University, 28801 Spain;Electronics Department, Alcalá University, 28801 Spain;Electronics Department, Alcalá University, 28801 Spain
Venue:
Autonomous Robots
Year:
2005

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Abstract

This paper describes an adaptive neural control system for governing the movements of a robotic wheelchair. It presents a new model of recurrent neural network based on a RBF architecture and combining in its architecture local recurrence and synaptic connections with FIR filters. This model is used in two different control architectures to command the movements of a robotic wheelchair. The training equations and the stability conditions of the control system are obtained. Practical tests show that the results achieved using the proposed method are better than those obtained using PID controllers or other recurrent neural networks models