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An Intelligent Collaborative System for Robot Dynamics
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AI
DOI：10.1109/TCYB.2022.3163440.png)
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摘要
En 中文
In this article, we propose an intelligent collaborative system for robotic navigation and control (CNaC) governed by the Euler-Lagrange equation. First, a state reconstruction based on neural networks navigation (SR-NNN) law is designed to estimate the current position of the robot for intelligent CNaC. The SR-NNN makes full use of partial truth information and the mighty local fitting ability of neural networks. In the absence of landmark, SR-NNN still exhibits navigation performance with high precision. The maximum root-mean-squared error (RMSE) of DR is 0.096 and the maximum RMSE of SR-NNN is 0.053, which has been improved by 55%. In addition, the motion model obtained by SR-NNN online training can avoid the error introduced by the predetermined motion model and overcome the interference of the external environment. The intelligent CNaC still can achieve satisfactory control performance based on the estimated position given by the SR-NNN rather than the ground truth which is formed by postprocessing. The intelligent CNaC has been demonstrated by simulation tracking sample and real experiments, which verifies the effectiveness of the intelligent CNaC.
Keyword:
Robots
Navigation
Neural networks
Global Positioning System
Training
Image reconstruction
Collaboration
Adaptive control
Euler-Lagrange systems
neural-networks-based navigation
期刊
IF:
10.5
论文数:
1.1W
被引数:
5.0W
机构
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