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
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;
Conference_Titel :
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN :
0-7803-8653-1
DOI :
10.1109/ICARCV.2004.1469057
