Trajectory tracking optimal control of the wheeled mobile robots based on genetic algorithm

doi:10.1007/978-3-642-31507-7_30

IR > 机电工程学院

	Trajectory tracking optimal control of the wheeled mobile robots based on genetic algorithm
	Li, Jianhua; Li, Jinwen
	2012
会议名称	2012 International Conference on Mechanical and Electronic Engineering, ICMEE 2012
会议录名称	Lecture Notes in Electrical Engineering
卷号	176 LNEE
期号	VOL. 1
页码	179-184
会议日期	June 23, 2012 - June 24, 2012
会议地点	Hefei, China
出版者	Springer Verlag
摘要	The trajectory tracking control optimal problem of the uncertain mobile robot with nonholonomic constraints is analyzed in this paper. A adaptive tracking controller and its Stability are described based on kinematic model. In order to confirm an optimal parameter set among so many control parameters. This paper put forward a optimization index function as an evaluating indicator for genetic algorithm. At last, the optimal controler was implemented on the simulations and the wheeled mobile robot. Results show the effectiveness. © 2012 Springer-Verlag Berlin Heidelberg.
关键词	Genetic algorithms Kinematics Trajectories Adaptive tracking controller Control parameters Evaluating indicators Non holonomic constraint Optimal controls Trajectory tracking Trajectory tracking control Wheeled mobile robot
DOI	10.1007/978-3-642-31507-7_30
收录类别	EI
语种	英语
EI入藏号	20124115546035
EI主题词	Mobile robots
ISSN	18761100
来源库	Compendex
分类代码	731.5 Robotics - 931.1 Mechanics
引用统计	无
文献类型	会议论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/116060
专题	机电工程学院
作者单位	School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou, China
第一作者单位	兰州理工大学
推荐引用方式 GB/T 7714	Li, Jianhua,Li, Jinwen. Trajectory tracking optimal control of the wheeled mobile robots based on genetic algorithm[C]:Springer Verlag,2012:179-184.