Autonomous Navigation of Mobile Robot Assisted by Its Identified Neural Network Model †

[摘要] Autonomous navigation is one of the key tasks in the development of control systems for real autonomous mobile objects. This paper presents the developed technology for accurately determining the position of a mobile robot in an autonomous operating mode without an external positioning system. The approach involves using a high-precision model of a real robot identified by a neural network. The robot adjusts its position, determined using odometry and video camera, according to the position of the robot, obtained using an accurate model. To train the neural network, a training set is used that takes into account the features of the movement of a wheeled robot, including wheel slip. In the experimental part, the problem of autonomous movement of a mobile robot along a given trajectory is considered.

[关键词] identification;neural network;machine learning;mobile robot;localization