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ABSTRACT: <br /> <br /> <br /> <br /> <br /> Mobile robots are widely used in various fields, such as manufactory, military defense, space exploration, and entertainment. The main task of this robot is to make its moving along the given trajectory. Therefore, as in...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/6441 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | ABSTRACT: <br />
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Mobile robots are widely used in various fields, such as manufactory, military defense, space exploration, and entertainment. The main task of this robot is to make its moving along the given trajectory. Therefore, as initial part of mobile robot motion planning, speed controllers is very important to make the robot can do its task. <br />
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This final project studies about trajectory tracking problems with the two wheeled mobile robot as the object. The kinematics form of this robot is a non linear system. Therefore, the neural networks method selected to solve this problem. The reason is, because this method is suitable for applicated to a non linear control problems. In a trajectory tracking problems, a neural network has a function for predicting the actual trajectory of the robot. At the solution later, we chose the recurrent network type to do that function. Besides that, the network is also use to optimization the velocity of the robots. At the end, this final project will show the result of robot simulation in order to follow a few kinds of trajectory. |
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