Genetic-based control of a skid steering mobile robot Online publication date: Mon, 17-Jul-2017
by Osama Elshazly; Zakarya Zyada; Abdelfattah Mohamed
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 3, No. 4, 2016
Abstract: In this paper, a genetic based optimisation of nonlinear controller parameters for the purposes of controlling a skid steering mobile robot is introduced and also, the classical kinematics model is enhanced as an extended kinematics model to include the slip conditions. The controller is simple in terms of design and implementation. In addition, it can be used for different types of reference inputs. Moreover, it maintains good performance and has the stronger robustness to variable disturbances. Furthermore, the proposed controller is used to control an extended kinematics model to test the validity and enhancement of the controller with different slip parameters. Simulation results are included.
Online publication date: Mon, 17-Jul-2017
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