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

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

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	Trajectory tracking optimal control of the wheeled mobile robots based on genetic algorithm
	Li, Jianhua; Li, Jinwen
	2012
会议日期	June 23, 2012 - June 24, 2012
会议地点	Hefei, China
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
卷号	176 LNEE
期号	VOL. 1
DOI	10.1007/978-3-642-31507-7_30
页码	179-184
英文摘要	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.
会议录	Lecture Notes in Electrical Engineering
会议录出版者	Springer Verlag
语种	英语
ISSN号	18761100
内容类型	会议论文
源URL	[http://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
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]. 见:. Hefei, China. June 23, 2012 - June 24, 2012.