具有滑移条件的滑移转向移动机器人的遗传非线性控制器

2014 IEEE International Conference on Automation, Quality and Testing, Robotics Pub Date : 2014-05-22 DOI:10.1109/AQTR.2014.6857868

O. Elshazly, Z. Zyada, A. Abo-Ismail

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引用次数: 4

摘要

本文采用遗传算法增强的非线性控制器对滑移转向移动机器人的运动学进行控制，并利用遗传算法对控制器参数进行整定。控制器的设计和实现都很简单。并且保持了良好的性能，具有较强的鲁棒性。此外，将所提出的控制器用于控制考虑滑移效应的扩展运动学模型，以验证该控制器的有效性和增强性。最后给出了仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Genetic nonlinear controller of a skid steering mobile robot with slip conditions

In this paper, the kinematics of a skid steering mobile robot is controlled using a nonlinear controller augmented with a genetic algorithm which is used to tune the controller parameters. The controller is simple in terms of design and implementation. Moreover, it maintains good performance and has stronger robustness. Furthermore, the proposed controller is used to control an extended kinematics model taking into account slip effects to test the validity and enhancement of the controller. Simulation results are included.

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来源期刊

2014 IEEE International Conference on Automation, Quality and Testing, Robotics

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