Trajectory control of a mobile robot using neural network for frail blind persons

Abstract

Abstract This paper describes a novel application of mobile robot technology to the construction of mobility for the frail blind. Trajectory control of an experimental mobile robot using proposed neural network based controller structure for frail blind persons are presented. The robot is a non-holonomic experimental mobile robot with all electronic equipments. A prescribed double triangle reference trajectory is employed to test the robot with proposed controller structure for following exact trajectory of blind disable persons. The gain parameters of the P controller are tuned with neural network. The results of the proposed adaptive neural network based P controller are improved that this controller has superior performance at adapting large disturbances on the mobile robot.