DocumentCode
697546
Title
Genetic algorithms based predictive control for mobile robot navigation in changing environments
Author
Gomez-Ortega, J. ; Ramirez, D.R. ; Limon-Marruedo, D. ; Camacho, E.F.
Author_Institution
Dept. de Electron., Univ. de Jaen, Jaen, Spain
fYear
2001
fDate
4-7 Sept. 2001
Firstpage
3179
Lastpage
3184
Abstract
In this paper a predictive navigation system for mobile robots is presented. The system deals with unexpected moving obstacles which future positions over a prediction horizon are estimated with a Kalman filter approach. Genetic algorithms have been used for real time optimization problem involved in the model based predictive control problem. Experimental results obtained when applying the controller to a TRC LABMATE mobile platform are given in the paper.
Keywords
Kalman filters; collision avoidance; genetic algorithms; mobile robots; optimal control; predictive control; Kalman filter approach; TRC LABMATE mobile platform; genetic algorithm; mobile robot navigation; moving obstacle; predictive control; predictive navigation system; Genetic algorithms; Mobile robots; Optimization; Predictive models; Robot sensing systems; Trajectory; Algorithms and Software for Real Time Control; Control and Optimization; Mobile Robots; Predictive Control; Robot Motion Control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2001 European
Conference_Location
Porto
Print_ISBN
978-3-9524173-6-2
Type
conf
Filename
7076421
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