Support vector machine-based two-wheeled mobile robot motion control in a noisy environment

摘要

In this paper, a support vector machine (SVM)-based control scheme of a two-wheeled mobile robot is proposed in a noisy environment. The noisy environment is defined as the measured data with uncertainty. The proposed control scheme can control the robot by consideration of local minima, where the controller is based on the Lyapunov function candidate and considers virtual force information. The SVM method is used for estimating the control parameters from the noisy environment. Four simulation results are presented to show the effectiveness of the proposed control scheme in the noisy environment, while the performance of a former method degrades significantly.