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An Intelligent Control of Mobile Robot Using Genetic Algorithm  

한성현 (경남대학교 기계자동화공학부)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.13, no.3, 2004 , pp. 126-132 More about this Journal
Abstract
This paper proposed trajectory tracking control based on genetic algorithm. Trajectory tracking control scheme are real coding genetic algorithm(RCGA) and back-propagation algorithm(BPA). Control scheme ability experience proposed simulation. Stable tracking control problem of mobile robots have been studied in recent years. These studies 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 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 verity numerical simulations and the results show better performance than constant gain controller.
Keywords
Genetic Algorithm; Back-Propagation Algorithm; Trajectory Tracking Control; Mobile Robot; Intelligent Control; Real Coding Genetic Algorithm;
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