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<p>This article focuses on the motion planning and control of an automated differential-driven two-wheeled E-puck robot using Generalized Regression Neural Network (GRNN) architecture in the Virtual Robot Experimentation Platform (V-REP) software platform among scattered obstacles. The main advantage of this GRNN over the feedforward neural network is that it provides accurate results in a short period with minimal error. First, the designed GRNN architecture receives real-time obstacle information from the Infra-Red (IR) sensors of an E-puck robot. According to IR sensor data interpretation, this architecture sends the left and right wheel velocities command to the E-puck robot in the V-REP software platform. In the present study, the GRNN architecture includes the MIMO system, i.e., multiple inputs (IR sensors data) and multiple outputs (left and right wheel velocities). The three-dimensional (3D) motion and orientation results of the GRNN architecture-controlled E-puck robot are carried out in the V-REP software platform among scattered and wall-type obstacles. Further on, compared with the feedforward neural network, the proposed GRNN architecture obtains better navigation path length with minimum error results.</p>
</abstract>

This article focuses on the motion planning and control of an automated differential-driven two-wheeled E-puck robot using Generalized Regression Neural Network (GRNN) architecture in the Virtual Robot Experimentation Platform (V-REP) software platform among scattered obstacles. The main advantage of this GRNN over the feedforward neural network is that it provides accurate results in a short period with minimal error. First, the designed GRNN architecture receives real-time obstacle information from the Infra-Red (IR) sensors of an E-puck robot. According to IR sensor data interpretation, this architecture sends the left and right wheel velocities command to the E-puck robot in the V-REP software platform. In the present study, the GRNN architecture includes the MIMO system, i.e., multiple inputs (IR sensors data) and multiple outputs (left and right wheel velocities). The three-dimensional (3D) motion and orientation results of the GRNN architecture-controlled E-puck robot are carried out in the V-REP software platform among scattered and wall-type obstacles. Further on, compared with the feedforward neural network, the proposed GRNN architecture obtains better navigation path length with minimum error results.

Generalised Regression Neural Network (GRNN) Architecture-Based Motion Planning and Control of an E-Puck Robot in V-REP Software Platform

KIIT Deemed to be University, An Institute of Eminence

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

This article focuses on the motion planning and control of an automated differential-driven two-wheeled E-puck robot using Generalized Regression Neural...

Generalised Regression Neural Network (GRNN) Architecture-Based Motion Planning and Control of an E-Puck Robot in V-REP Software Platform

Published Online: Nov 29, 2021

Page range: 209 - 214

Received: Jun 01, 2020

Accepted: Aug 31, 2021

DOI: https://doi.org/10.2478/ama-2021-0027

Keywords
e-puck robot, generalised regression neural network architecture, virtual robot experimentation platform software, scattered obstacle, Infra-Red sensor

© 2021 Vikas Singh Panwar et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Generalised Regression Neural Network (GRNN) Architecture-Based Motion Planning and Control of an E-Puck Robot in V-REP Software Platform

Published Online: Nov 29, 2021

Page range: 209 - 214

Received: Jun 01, 2020

Accepted: Aug 31, 2021

DOI: https://doi.org/10.2478/ama-2021-0027

Keywordse-puck robot, generalised regression neural network architecture, virtual robot experimentation platform software, scattered obstacle, Infra-Red sensor

© 2021 Vikas Singh Panwar et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
e-puck robot, generalised regression neural network architecture, virtual robot experimentation platform software, scattered obstacle, Infra-Red sensor