DocumentCode
2864751
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
Volume
3
fYear
1999
fDate
1999
Firstpage
2452
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.770473
Filename
770473
Link To Document