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http://dx.doi.org/10.6109/jkiice.2017.21.4.688

Optimal Control of Time and Energy for Mobile Robots Using Genetic Algorithm  

Park, Hyeon-jae (Department of Electrical and Computer Engineering, Pusan National University)
Park, Jin-hyun (Dep. of Mechatronics Engineering, Kyeongnam National University of Science and Technology)
Choi, Young-kiu (Department of Electrical Engineering, Pusan National University)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.21, no.4, 2017 , pp. 688-697 More about this Journal
Abstract
It is very difficult to solve mathematically the optimal control problem for non - linear mobile robots to move to target points with minimum energy related to velocity, acceleration and angular velocity in minimum time. This paper proposes a method to obtain optimal control gains with which mobile robots move with minimum energy related to velocity, acceleration and angular velocity in minimum time using genetic algorithms. Mobile robots are non - linear systems so that their optimal control gains depend on initial positions. Hence initial positions are divided into some partition points and optimal control gains are obtained at each partition point with genetical algorithms. These optimal control gains are used to train neural networks that generate proper control gains at arbitrary initial position. Finally computer simulation studies have been conducted to verify the effectiveness of the method proposed in this paper.
Keywords
Mobile Robot; Genetic Algorithm; Neural Network; Optimal Control Gain; Minimum Energy;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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