This article is concerned with developing an intelligent system for the control of a wheeled robot. An algorithm for training an artificial neural network for path planning is proposed. The trajectory ensures steering optimal motion from the current position of the mobile robot to a prescribed position taking its orientation into account. The proposed control system consists of two artificial neural networks. One of them serves to specify the position and the size of the obstacle, and the other forms a continuous trajectory to reach it, taking into account the information received, the coordinates, and the orientation at the point of destination. The neural network is trained on the basis of samples obtained by modeling the equations of motion of the wheeled robot which ensure its motion along trajectories in the form of Euler’s elastica.

中文翻译：

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基于最优轨迹的轮式移动机器人神经网络控制

本文涉及开发用于控制轮式机器人的智能系统。提出了一种用于训练用于路径规划的人工神经网络的算法。轨迹确保从移动机器人的当前位置转向考虑其方向的指定位置的最佳运动。所提出的控制系统由两个人工神经网络组成。其中一个用于指定障碍物的位置和大小，另一个形成连续轨迹以到达它，同时考虑到接收到的信息、坐标和目的地点的方向。神经网络基于通过对轮式机器人的运动方程建模而获得的样本进行训练，该方程确保其以欧拉弹性的形式沿着轨迹运动。