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

Author

Elshazly, Osama ; Zyada, Zakarya ; Abo-Ismail, Ahmed

Author_Institution

Mechatron. & Robot. Eng. Dept., Egypt-Japan Univ. of Sci. & Technol., Alexandria, Egypt

fYear

2014

fDate

22-24 May 2014

Firstpage

1

Lastpage

6

Abstract

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.

Keywords

control system synthesis; genetic algorithms; mobile robots; nonlinear control systems; robot kinematics; controller design; controller parameter tuning; extended kinematics model; genetic algorithm; genetic nonlinear controller; mobile robot kinematics; skid steering mobile robot; slip conditions; Genetic algorithms; Genetics; Kinematics; Mathematical model; Mobile robots; Trajectory; Wheels; Genetic Algorithm; Nonlinear Controller tuning; Skid Steering Mobile Robots; Slip Conditions;

fLanguage

English

Publisher

ieee

Conference_Titel

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

Conference_Location

Cluj-Napoca

Print_ISBN

978-1-4799-3731-8

Type

conf

DOI

10.1109/AQTR.2014.6857868

Filename

6857868