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Human Inspired Control System for an Unmanned Ground Vehicle


Abstract In this research work, a novel control system strategy for the robust control of an unmanned ground vehicle is proposed. This strategy is motivated by efforts to mitigate the problem for scenarios in which the human operator is unable to properly communicate with the vehicle. This novel control system strategy consisted of three major components: I.) Two independent intelligent controllers, II.) An intelligent navigation system, and III.) An intelligent controller tuning unit. The inner workings of the first two components are based off the Brain Emotional Learning (BEL), which is a mathematical model of the Amygdala-Orbitofrontal, a region in mammalians brain known to be responsible for emotional learning. Simulation results demonstrated t... (more)
Created Date 2015
Contributor Vargas-Clara, Alvaro (Author) / Redkar, Sangram (Advisor) / McKenna, Ann (Committee member) / Cooke, Nancy (Committee member) / Arizona State University (Publisher)
Subject Mechanical engineering / Cognitive psychology / Brain Emotional Learning / Control System / Driving Behavior / Electroencephalogram (EEG) / Sensor Fusion / Unmanned Ground Vehicle
Type Doctoral Dissertation
Extent 129 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note Doctoral Dissertation Engineering 2015
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis