Adaptive dynamic motion control using ant colony optimization for nonholonomic mobile robots

Author

Tsai, Ching-Chih ; Tai, Feng-Chun ; Hsieh, Shih-Min

Author_Institution

Dept. of Electr. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan

fYear

2011

fDate

15-18 May 2011

Firstpage

908

Lastpage

913

Abstract

This paper presents techniques to design a dynamic motion controller using Ant Colony Optimization (ACO) for simultaneous stabilization and tracking of nonholonomic mobile robots. A unified dynamic motion controller is first designed based on the Lyapunov stability theory and adaptive backstepping technique, and ACO is then applied to search for the best control parameters of the proposed dynamic controller. Simulations are conducted to illustrate the performance of the proposed controller.

Keywords

Lyapunov methods; adaptive control; control system synthesis; mobile robots; motion control; optimisation; stability; Lyapunov stability theory; adaptive backstepping technique; adaptive dynamic motion control design; ant colony optimization; nonholonomic mobile robots; simultaneous stabilization; Adaptation model; Dynamics; Kinematics; Mobile communication; Mobile robots; Tracking; Trajectory; Ant-colony-optimization (ACO); dynamic motion controller; nonholonomic mobile robot; regulation; trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2011 8th Asian

Conference_Location

Kaohsiung

Print_ISBN

978-1-61284-487-9

Electronic_ISBN

978-89-956056-4-6

Type

conf

Filename

5899193