DocumentCode
3549653
Title
Stabilization and optimal control of nonholonomic mobile robot
Author
Sheng, Li ; Guoliang, Ma ; Weili, Hu
Author_Institution
Dept. of Autom., Nanjing Univ. of Sci. & Technol., Jiangsu, China
Volume
2
fYear
2004
fDate
6-9 Dec. 2004
Firstpage
1427
Abstract
The stabilization and optimal control of nonholonomic mobile robot has been an important control problem in the mobile robot research area in the past few years. In this paper, a controller with two parameters for the stabilization of a mobile robot with two-wheel is proposed. And a procedure of parameters optimization using the genetic algorithm is presented in order to minimize the performance criterion function. Finally, simulation results illustrate the effectiveness of the proposed controller and parameter optimization method.
Keywords
genetic algorithms; mobile robots; optimal control; stability; genetic algorithm; nonholonomic mobile robot stabilization; optimal control; parameter optimization method; performance criterion function; Algorithm design and analysis; Automatic control; Control systems; Design optimization; Genetic algorithms; Mobile robots; Optimal control; Robot kinematics; State feedback; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN
0-7803-8653-1
Type
conf
DOI
10.1109/ICARCV.2004.1469057
Filename
1469057
Link To Document