Adaptive dynamic motion control using ant colony optimization for nonholonomic mobile robots

This paper presents techniques to design a dynamic motion controller using Ant Colony Optimization (ACO) for simultaneous stabilization and tracking of nonholonomic mobile robots. A unified dynamic motion controller is first designed based on the Lyapunov stability theory and adaptive backstepping technique, and ACO is then applied to search for the best control parameters of the proposed dynamic controller. Simulations are conducted to illustrate the performance of the proposed controller.