Title :
Nonlinear MBPC for mobile robot navigation using genetic algorithms
Author :
Ramírez, D.R. ; Limón, D. ; Gómez-Ortega, J. ; Camacho, E.F.
Author_Institution :
Dept. de Ingenieria de Sistemas y Autom., Seville Univ., Spain
Abstract :
This paper presents a way of implementing a model-based predictive controller (MBPC) for mobile robot navigation using genetic algorithms to perform online nonlinear optimization. Obstacle avoidance is considered by the controller. Constraints on the maximum attainable speeds are also considered by the algorithm. Experimental results obtained when applying the controller to a TRC LABMATE mobile platform are given in the paper
Keywords :
collision avoidance; genetic algorithms; mobile robots; navigation; nonlinear control systems; predictive control; TRC LABMATE mobile platform; genetic algorithms; mobile robot; model-based predictive control; navigation; nonlinear optimization; obstacle avoidance; Cost function; Fuzzy control; Genetic algorithms; Mobile robots; Motion planning; Navigation; Path planning; Predictive control; Predictive models; Vehicles;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770473
