REAL-TIME CONTROL OF AN AUTONOMOUS VEHICLE : A NEURAL NETWORK APPROACH TO THE PATH FOLLOWING PROBLEM

Abstract

A neural-network based approach to the control of non-linear dynamical systems such as wheeled mobile robots is presented. A general framework for the training of neural controllers is outlined, and applied to the lateral control of a vehicle for the path following and trajectory servoing problems. Simulation as well as experimental results on a four-wheel drive vehicle equipped with actuators and sensors are shown.