Abstract:We demonstrate the use of general dynamic neural networks (GDNNs) for the online tuning of an omni-directional drive system for reactive swarm robots. The drive system used in this work consists of four motor-encoder-microcontroller modules each constituting a single-input single-output (SISO) proportional, integral, and differential (PID) control system. For a given target velocity, a neural network generates the parameters for each PID control system. In this paper, we evaluate and compare two different netw… Show more
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