ANN-based Track Follower Using FPAA. Artificial Neural Network-based Track Follower Using Field Programmable Analog Array

      Аннотация: This thesis aims to design and implement a mobile robot system which has the ability to move along a predefined path and explore elements by visual processing system and move with discretion through a place in so many forms. A field programmable analog array technology has been used in building two types of controller systems; the proportional-integral controller system and the artificial neural network controller system on the route of the robot, in addition to the use of this technology in programming the movement of robotic arm to pick up required objects. The FPAA is chosen to build the proposed robot system because the signal processing is totally in the analog domain. This has the advantage of producing simpler systems than those in digital microcontrollers.

Ключевые слова: ANN, ARM, Robot, FPAA, Track follower, PID