Publicação
Using a genetic algorithm to obtain a neural network-based model of a real autonomous vehicle
| dc.contributor.author | Pavon Pulido, Nieves | |
| dc.contributor.author | Ferruz Melero, Joaquin | |
| dc.contributor.author | Ruano, Antonio | |
| dc.date.accessioned | 2013-02-05T14:44:09Z | |
| dc.date.available | 2013-02-05T14:44:09Z | |
| dc.date.issued | 2008 | |
| dc.date.updated | 2013-01-26T18:09:42Z | |
| dc.description.abstract | In this paper, a set of Radial Basis Function (RBF)neural networks, capable to learn the kinematic and dynamic behavior of the Romeo 4R autonomous vehicle, is presented. In order to obtain a set of good RBF nets in terms of the number of neurons and the number of lagged inputs, a Multi-Objective Genetic Algorithm (MOGA) has been used. The kinematic and dynamic systems of the mobile robot have been split into three subsystems: the steering module, the drive module and the heading module. Each subsystem is modeled with a neural network that learns its behaviour using, among others, a set of lagged outputs as inputs. The outputs from the steering and drive modules are also used as inputs in the heading module. Neural networks - based models are compared to classical approaches. | por |
| dc.identifier.citation | Pulido, Nieves Pavon; Melero, Joaquin Ferruz; Ruano, A. E. Using a genetic algorithm to obtain a neural network-based model of a real autonomous vehicle, Trabalho apresentado em 2008 IEEE International Symposium on Industrial Electronics (ISIE 2008), In Proceedings of the 2008 IEEE International Symposium on Industrial Electronics, Cambridge, UK, 2008. | por |
| dc.identifier.isbn | 978-1-4244-1665-3 | |
| dc.identifier.other | AUT: ARU00698; | |
| dc.identifier.uri | http://hdl.handle.net/10400.1/2222 | |
| dc.language.iso | eng | por |
| dc.peerreviewed | yes | por |
| dc.publisher | IEEE | por |
| dc.title | Using a genetic algorithm to obtain a neural network-based model of a real autonomous vehicle | por |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Cambridge, UK | por |
| oaire.citation.endPage | 934 | por |
| oaire.citation.startPage | 929 | por |
| oaire.citation.title | International Symposium on Industrial Electronics | por |
| person.familyName | Ruano | |
| person.givenName | Antonio | |
| person.identifier.orcid | 0000-0002-6308-8666 | |
| person.identifier.rid | B-4135-2008 | |
| person.identifier.scopus-author-id | 7004284159 | |
| rcaap.rights | restrictedAccess | por |
| rcaap.type | conferenceObject | por |
| relation.isAuthorOfPublication | 13813664-b68b-40aa-97a9-91481a31ebf2 | |
| relation.isAuthorOfPublication.latestForDiscovery | 13813664-b68b-40aa-97a9-91481a31ebf2 |