Control characteristics of cooperative conveyance system for multiple mobile robots using complex-valued neural network

Abstract

This paper describes control characteristics of the cooperative conveyance system for multiple mobile robots. In our previous research, we proposed the cooperative pattern generator using the real-valued neural network (RVNN) and the complex-valued neural network (CVNN) to generate the cooperative motion for a pair of robots. Connection weights of the networks are tuned by the genetic algorithm. In this paper, we confirmed the advantages of the CVNN from a comparison of learning results and experimental results using a pair of robots with the CVNN and the RVNN.