Unmanned Ground Vehicle Navigation Using Brain Emotional Learning Based Intelligent Controller (BELBIC)

Abstract

In this paper, we implement a novel control strategy for navigation of an Unmanned Ground Vehicle (UGV). This strategy consisted in the development and implementation of the Brain Emotional Learning Based Intelligent Controller (BELBIC) for heading, and path control of a UGV. BELBIC is an intelligent controller based on the model of the Amygdala-Orbitofrontal system of mammalians, which is a region in the brain known to be responsible for emotional learning process. Simulation of this controller for the cases of heading, and path control showed to be very robust and adaptable to dynamical changes in the plant. A comparison between BELBIC and a traditional PID control is presented to illustrate the performance of this control strategy.