Robotics is a spiry integral technology of mechanics, electrics and cybernetics. Through systematical study of a wheeled mobile robot, The kinematic model of it is deduced. A Cerebella Model Articulation Controller (CMAC) PID controller was developed to control the motion to accomplish the realistic motions of the wheeled mobile robot system. The experimental is carried out. The results prove the algorithm is correct, and indicate that the design of CMAC-PID controller is a success. The whole research will provide a reference to the study of the mobile robotics.


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    Title :

    Research on NN-PID Motion Control Technology for a Wheeled Mobile Robot



    Published in:

    Advanced Materials Research ; 538-541 ; 2636-2640


    Publication date :

    2012-06-14


    Size :

    5 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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