@inproceedings{0f10adeecd074c4499d87451e48dc790,
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",
language = "English",
isbn = "9810474806",
series = "Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002",
pages = "1458--1463",
booktitle = "Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002",
note = "Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 ; Conference date: 02-12-2002 Through 05-12-2002",
}