Title :
Intelligent motion control for omnidirectional mobile robots using artificial immune system algorithm
Author :
Huang, Hsu-Chih ; Wu, Ter-Feng ; Hsu, Huan-Shiuan ; Yang, Chih-Chiang ; Wu, Chien-Lung
Author_Institution :
Department of Electrical Engineering, National Ilan University, Yilan, Taiwan
Abstract :
This paper presents an intelligent motion controller for four-wheeled omnidirectional mobile robots with four independent driving wheels equally spaced at 90 degrees from one another by using artificial immune system (AIS) algorithm. Simulation results are conducted to show the effectiveness of the proposed AIS-based intelligent motion controller for four-wheeled omnidirectional mobile robots.
Keywords :
Algorithm design and analysis; Immune system; Mobile robots; Trajectory; Wheels; Artificial immune system; intelligent control; mobile robot; motion control;
Conference_Titel :
SICE Annual Conference (SICE), 2013 Proceedings of
Conference_Location :
Nagoya, Japan
