Biologically-Inspired Learning and Adaptation of Self-Evolving Control for Networked Mobile Robots

摘要

This paper presents a biologically-inspired learning and adaptation method for self-evolving control of networked mobile robots. A Kalman filter (KF) algorithm is employed to develop a self-learning RBFNN (Radial Basis Function Neural Network), called the KF-RBFNN. The structure of the KF-RBFNN is optimally initialized by means of a modified genetic algorithm (GA) in which a Lévy flight strategy is applied. By using the derived mathematical kinematic model of the mobile robots, the proposed GA-KF-RBFNN is utilized to design a self-evolving motion control law. The control parameters of the mobile robots are self-learned and adapted via the proposed GA-KF-RBFNN. This approach is extended to address the formation control problem of networked mobile robots by using a broadcast leader-follower control strategy. The proposed pragmatic approach circumvents the communication delay problem found in traditional networked mobile robot systems where consensus graph theory and directed topology are applied. The simulation results and numerical analysis are provided to demonstrate the merits and effectiveness of the developed GA-KF-RBFNN to achieve self-evolving formation control of networked mobile robots.