한국공작기계학회:학술대회논문집 (Proceedings of the Korean Society of Machine Tool Engineers Conference)
- 한국공작기계학회 2004년도 춘계학술대회 논문집
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- Pages.241-246
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- 2004
모바일 로봇의 견실제어를 위한 제네틱 알고리즘 개발
Development of Genetic Algorithm for Robust Control of Mobile Robot
초록
This paper proposed trajectory tracking control of mobile robot. Trajectory tracking control scheme are real coding genetic-algorithm and back-propergation algorithm. Control scheme ability experience proposed simulation. Stable tracking control problem of mobile robots have been studied in recent years. These studios have guaranteed stability of controller, but the performance of transient state has not been guaranteed. In some situations, constant gain controller shows overshoots and oscillations. So we introduce better control scheme using Real coding Genetic Algorithm(RCGA) and neural network. Using RCGA, we can find proper gains in several situations and these gains are generalized by neural network. The generalization power of neural network will give proper gain in untrained situation. Performance of proposed controller will verify numerical simulations and the results show better performance than constant gain controller.