Title :
Genetic algorithms based predictive control for mobile robot navigation in changing environments
Author :
Gomez-Ortega, J. ; Ramirez, D.R. ; Limon-Marruedo, D. ; Camacho, E.F.
Author_Institution :
Dept. de Electron., Univ. de Jaen, Jaen, Spain
Abstract :
In this paper a predictive navigation system for mobile robots is presented. The system deals with unexpected moving obstacles which future positions over a prediction horizon are estimated with a Kalman filter approach. Genetic algorithms have been used for real time optimization problem involved in the model based predictive control problem. Experimental results obtained when applying the controller to a TRC LABMATE mobile platform are given in the paper.
Keywords :
Kalman filters; collision avoidance; genetic algorithms; mobile robots; optimal control; predictive control; Kalman filter approach; TRC LABMATE mobile platform; genetic algorithm; mobile robot navigation; moving obstacle; predictive control; predictive navigation system; Genetic algorithms; Mobile robots; Optimization; Predictive models; Robot sensing systems; Trajectory; Algorithms and Software for Real Time Control; Control and Optimization; Mobile Robots; Predictive Control; Robot Motion Control;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
