文献类型：会议论文

英文题名：High-precision position predictive control of mobile robot based on LSTM algorithm

作者：Du, Guangshuo[1];Liu, Haitao[1,2];Tian, Xuehong[1]

机构：[1]Guangdong Ocean Univ, Sch Mech & Power Engn, Zhanjiang 524088, Peoples R China;[2]Southern Marine Sci & Engn Guangdong Lab Zhanjian, Zhanjiang 524000, Peoples R China

会议论文集：Chinese Automation Congress (CAC)

会议日期：NOV 06-08, 2020

会议地点：Shanghai, PEOPLES R CHINA

语种：英文

外文关键词：Mobile robot; LSTM; High precision position control; Predictive control

外文摘要：In this paper, a high precision position predictive control of mobile robot is proposed based on LSTM (Long short term memory) deep learning neural network algorithm. The structure-based error back-propagation algorithm and iterative learning are introduced to make the actual predicted position of mobile robot better approximate the expected position, and obtain satisfied performances. Due to the unique ability of LSTM algorithm to memorize the information far away from the current time, the current position can be better predicted by processing the trajectory information of the mobile robot which is far away from the current time, and make the predicted value closer to the real value. The simulation demonstrates that the proposed method has the excellent predictive control performance.