Time-optimal feedback control of a non-holonomic vehicle using neural networks

Gu Fang; Gamini Dissanayake

doi:10.1109/ICARCV.2002.1234987

Time-optimal feedback control of a non-holonomic vehicle using neural networks

Gu Fang
, Gamini Dissanayake

School of Engineering

University of Technology Sydney

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

3 Citations (Scopus)

Abstract

This paper presents a minimum-time feedback controller for maneuvering a non-holonomic vehicle. A trajectory planning algorithm that generates minimum-time trajectories for moving a vehicle from an arbitrary starting location to the origin is presented. Trajectories generated are used to train a neural network that computes instantaneous velocity and steering commands as a function of the current vehicle state. The proposed strategy is illustrated by developing a neural network based controller for backing up a truck. Computer simulations are presented that demonstrates the effectiveness of the proposed technique in the presence of disturbances.

Original language	English
Title of host publication	Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
Publisher	Nanyang Technological University
Pages	1458-1463
Number of pages	6
ISBN (Print)	9810483643, 9789810483647
DOIs	https://doi.org/10.1109/ICARCV.2002.1234987
Publication status	Published - 2002
Event	7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002 - Marine Mandarin, Singapore Duration: 2 Dec 2002 → 5 Dec 2002

Publication series

Name	Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
Volume	1

Conference

Conference	7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
Country/Territory	Singapore
City	Marine Mandarin
Period	2/12/02 → 5/12/02

Access to Document

10.1109/ICARCV.2002.1234987

Cite this

Fang, G., & Dissanayake, G. (2002). Time-optimal feedback control of a non-holonomic vehicle using neural networks. In Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002 (pp. 1458-1463). (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002; Vol. 1). Nanyang Technological University. https://doi.org/10.1109/ICARCV.2002.1234987

Fang, Gu ; Dissanayake, Gamini. / Time-optimal feedback control of a non-holonomic vehicle using neural networks. Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002. Nanyang Technological University, 2002. pp. 1458-1463 (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002).

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title = "Time-optimal feedback control of a non-holonomic vehicle using neural networks",

abstract = "This paper presents a minimum-time feedback controller for maneuvering a non-holonomic vehicle. A trajectory planning algorithm that generates minimum-time trajectories for moving a vehicle from an arbitrary starting location to the origin is presented. Trajectories generated are used to train a neural network that computes instantaneous velocity and steering commands as a function of the current vehicle state. The proposed strategy is illustrated by developing a neural network based controller for backing up a truck. Computer simulations are presented that demonstrates the effectiveness of the proposed technique in the presence of disturbances.",

author = "Gu Fang and Gamini Dissanayake",

year = "2002",

doi = "10.1109/ICARCV.2002.1234987",

language = "English",

isbn = "9810483643",

series = "Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002",

publisher = "Nanyang Technological University",

pages = "1458--1463",

booktitle = "Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002",

note = "7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002 ; Conference date: 02-12-2002 Through 05-12-2002",

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Fang, G & Dissanayake, G 2002, Time-optimal feedback control of a non-holonomic vehicle using neural networks. in Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002. Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002, vol. 1, Nanyang Technological University, pp. 1458-1463, 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002, Marine Mandarin, Singapore, 2/12/02. https://doi.org/10.1109/ICARCV.2002.1234987

Time-optimal feedback control of a non-holonomic vehicle using neural networks. / Fang, Gu; Dissanayake, Gamini.
Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002. Nanyang Technological University, 2002. p. 1458-1463 (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002; Vol. 1).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

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AB - This paper presents a minimum-time feedback controller for maneuvering a non-holonomic vehicle. A trajectory planning algorithm that generates minimum-time trajectories for moving a vehicle from an arbitrary starting location to the origin is presented. Trajectories generated are used to train a neural network that computes instantaneous velocity and steering commands as a function of the current vehicle state. The proposed strategy is illustrated by developing a neural network based controller for backing up a truck. Computer simulations are presented that demonstrates the effectiveness of the proposed technique in the presence of disturbances.

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Fang G, Dissanayake G. Time-optimal feedback control of a non-holonomic vehicle using neural networks. In Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002. Nanyang Technological University. 2002. p. 1458-1463. (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002). doi: 10.1109/ICARCV.2002.1234987

Time-optimal feedback control of a non-holonomic vehicle using neural networks

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