A. Mohamed, M. EI-Gindy, X. Huang, J. Ren, H. Lang
Real-time Optimal Control of Multi-wheeled Combat Vehicles – using Artificial Neural Network and Potential Fields
Periodikum: Advance in military technology
Klíčová slova: real-time, optimal control theory, path planning, autonomous multi-wheeled combat vehicle, Artificial Neural Network, artificial potential fields
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Consequently, the obtained paths are used to train the proposed ANN model. The trained ANN has the capability to control the movement of combat vehicle in real time from any starting point to the desired goal position within the area of interest. The vehicle path is autonomously generated from the previous vehicle location parameter in terms of lateral velocity, heading angle and yaw rate of the vehicle. APF is proposed for preventing the vehicle from colliding with obstacles in border destination. The effectiveness and efficiency of the proposed approach are demonstrated in the simulation results, which show that the proposed ANN model is capable of navigating the multi-wheeled combat vehicle in real time.