A fuzzy neural dynamics based tracking controller for a nonholonomic mobile robot
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Bibliographic record
Abstract
In this paper, a fuzzy neural dynamics based tracking controller for nonholonomic wheeled mobile robots is proposed. The nonholonomic kinematic constraints are considered in the development of the controller. The proposed model is suitable for both continuous and discrete paths. Fuzzy rules are formulated to deal with the discontinuity in path directions. This model is capable of generating smooth velocity commands to drive the robot to track the desired paths. In the situation with large initial errors, the proposed model can automatically generate a smooth curve to reach the desired robot path from an arbitrary initial configuration without any explicit algorithms for the connection curve. At sharp turns, this model can automatically round off the sharp turns with a smooth curve. The effectiveness of the proposed tracking controller is demonstrated by simulation studies.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it