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This paper describes a novel application of mobile robot technology to the construction of mobility for the frail blind. Trajectory control of an experimental mobile robot using proposed neural network based controller structure for frail blind persons are presented. The robot is a non-holonomic experimental mobile robot with all electronic equipments. A prescribed double triangle reference trajectory is employed to test the robot with proposed controller structure for following exact trajectory of blind disable persons. The gain parameters of the P controller are tuned with neural network. The results of the proposed adaptive neural network based P controller are improved that this controller has superior performance at adapting large disturbances on the mobile robot.

The goal of this chapter is to enable a nonholonomic mobile robot to track a specified trajectory with minimum tracking error. Towards that end, an adaptive P controller is designed whose gain parameters are tuned by using two feed-forward neural networks. Back-propagation algorithm is chosen for online learning process and posture-tracking errors are considered as error values for adjusting weights of neural networks. The tracking performance of the controller is illustrated for different trajectories with computer simulation using Matlab/Simulink. In addition, open-loop response of an experimental mobile robot is investigated for these different trajectories. Finally, the performance of the proposed controller is compared to a standard PID controller. The simulation results show that “adaptive P controller using neural networks” has superior tracking performance at adapting large disturbances for the mobile robot.

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