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Direct and Inverse Neural Modelization of Mobile Robots

Ines Mahmoud(1), Ayachi Errachdi(2*), Mohamed Benrejeb(3)

(1) ENIT, Tunisia
(2) LARA ENIT El Manar Tunis, Tunisia
(3) National School of Engineer of Tunisia, Tunisia
(*) Corresponding author


DOI: https://doi.org/10.15866/ireaco.v8i2.4595

Abstract


In this paper, direct and inverse models determination of a mobile robot using artificial neural networks are proposed. The effectiveness of the proposed algorithm applied to the modeling of behavior of CHAR and KHEPERA robots is verified by simulation experiments. The results of simulation show that the use of the neural networks in the determination of direct model and inverse model is very interesting since it enables to guarantee the time competition and the quality of the modeling.
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Keywords


Direct Model; Inverse Model; Artificial Neural Network; Robotic Model; Learning Rate

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References


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