Um Modelo de Redes Neurais para Controle de Sistemas Robóticos
Resumo
A área de robótica tem muito da sua complexidade devido a alta dependência com o ambiente de atuação que pode se alterar com grande frequência. A utilização de redes neurais para a solução de problemas de robótica é justificada pela flexibilidade e capacidade de aprendizagem daquelas. É feito um breve estudo conceitual em ambas as áreas. São propostos modelos neurais e definidos os problemas de robótica a serem tratados. Descreve-se as investigações realizadas no sentido de determinar as melhores condições de treinamento. A validade do trabalho é verificada através de exemplos práticos.
Referências
Coiffet, Philippe. Robot Technology-Modelling and Control, Volume 1, Prentice-Hall, London, 1983.
Rumelhart, D.E. & McClelland. Parallel Distributed Processing : Explorations the Microstructure of Cognition, Volume 1: Foundations, MIT Press, 1986.
Lippmann, Richard P. "An Introduction to Computing With Neural Nets", IEEE ASSP Magazine, April 1987, 4-22.
Rangwala, Sabbir S. & Dornfeld, David A., "Learning and Optimization of Machining Operations Using Computing Abilities of Neural Networks", IEEE Transactions on Systems, Man and Cybernetics, Vol 19, No 2, March/April 1989.
Jones, William P. & Hoskins, Josiah. "Back Propagation", Byte, October 1987, 155-162.
Josin, Gary. "Neural Networks Heuristics", Byte, October 1987, 183-192.
Kung, Sun-Yuan & Hwang, Jeng-Neng, "Neural Networks Architectures for Robotic Applications", IEEE Transactions on Robotics and Automation, Vol 5, No 5, October 1989, 641-657.
Josin, Gary. "Integrating Neural Networks with Robots", AI Expert, April, 1987, 51-58.
Kickpatrick, S., Gelatt, C.A. Jr & Vecchi, M.R. "Optimization by Simulated Annealing", Science, No 220, 1983, 671-680.
Borenstein, J. & Korem, Y. "Real-Time Obstacle Avoidance for Fast Mobile Robots", IEEE Transactions on Systems, Man and Cybernetics, No 5, Vol. 19, September/October 1989, 1179-1186.
Nagata, S., Sekiguchi, M. & Asakawa, K. "Mobile Robot Control by a Structured Hierarchical Neural Network", IEEE Control Systems Magazine, April, 1990, 69-76.
Craig, J. Introduction to Robotics, Addison Wesley, 1986.
Rumelhart, D.E. & McClelland. Parallel Distributed Processing : Explorations the Microstructure of Cognition, Volume 1: Foundations, MIT Press, 1986.
Lippmann, Richard P. "An Introduction to Computing With Neural Nets", IEEE ASSP Magazine, April 1987, 4-22.
Rangwala, Sabbir S. & Dornfeld, David A., "Learning and Optimization of Machining Operations Using Computing Abilities of Neural Networks", IEEE Transactions on Systems, Man and Cybernetics, Vol 19, No 2, March/April 1989.
Jones, William P. & Hoskins, Josiah. "Back Propagation", Byte, October 1987, 155-162.
Josin, Gary. "Neural Networks Heuristics", Byte, October 1987, 183-192.
Kung, Sun-Yuan & Hwang, Jeng-Neng, "Neural Networks Architectures for Robotic Applications", IEEE Transactions on Robotics and Automation, Vol 5, No 5, October 1989, 641-657.
Josin, Gary. "Integrating Neural Networks with Robots", AI Expert, April, 1987, 51-58.
Kickpatrick, S., Gelatt, C.A. Jr & Vecchi, M.R. "Optimization by Simulated Annealing", Science, No 220, 1983, 671-680.
Borenstein, J. & Korem, Y. "Real-Time Obstacle Avoidance for Fast Mobile Robots", IEEE Transactions on Systems, Man and Cybernetics, No 5, Vol. 19, September/October 1989, 1179-1186.
Nagata, S., Sekiguchi, M. & Asakawa, K. "Mobile Robot Control by a Structured Hierarchical Neural Network", IEEE Control Systems Magazine, April, 1990, 69-76.
Craig, J. Introduction to Robotics, Addison Wesley, 1986.
Publicado
07/11/1990
Como Citar
CARVALHO, Marcio Luiz Bunte de; MEIRA JUNIOR, Wagner.
Um Modelo de Redes Neurais para Controle de Sistemas Robóticos. In: INTERNATIONAL SYMPOSIUM ON COMPUTER ARCHITECTURE AND HIGH PERFORMANCE COMPUTING (SBAC-PAD), 3. , 1990, Rio de Janeiro/RJ.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
1990
.
p. 22-37.
DOI: https://doi.org/10.5753/sbac-pad.1990.23106.
