@inproceedings{bf9e6fcbd77d492e9e345c08833ff09c,
title = "Time optimal control of mobile robot motion using neural nets",
abstract = "A multilayer neural network architecture is proposed as a trainable controller for realizing time-optimal switching surfaces. The locomotion mechanism of a mobile robot is modeled by a double integrator dynamic system with linear acceleration as the control input to the actuators. A four-layer feedforward neural network is then trained, using a collection of representative samples chosen from a certain region of the state space, to realize a continuous mapping between the system's states and optimal control actions. This network is then used as part of a specified control loop. Simulation of the overall system generated nearly optimal state trajectories.",
author = "Ciliz, {M. Kemal} and Can Isik",
year = "1989",
language = "English (US)",
isbn = "0818689870",
series = "Proc IEEE Int Symp Intell Control 1989",
publisher = "IEEE Computer Society",
pages = "368--373",
editor = "Sanderson, {Arthur C.} and Desrochers, {Alan A.} and Kimon Valavanis",
booktitle = "Proc IEEE Int Symp Intell Control 1989",
address = "United States",
note = "Proceedings: IEEE International Symposium on Intelligent Control 1989 ; Conference date: 25-09-1989 Through 26-09-1989",
}