NDLI: Optimization of a Neural Dynamics Based Controller for a Nonholonomic Mobile Robot Using Genetic Algorithms

Content Provider	IEEE Xplore Digital Library
Author	Hao Li Yang, S.X. Karray, F.
Copyright Year	2003
Description	Author affiliation: Pattern Analysis and Machine Intelligence (PAMI) Lab, Systems Design Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada. E-mail: h23li@uwaterloo.ca (Hao Li)
Abstract	In this paper, a neural dynamics based controller for a nonholonomic mobile robot is proposed. The turn angle of the robot in the proposed model is characterized by a biologically inspired shunting equation derived from Hodgkin and Huxley’s membrane equation. This model is capable of generating smooth steering velocity command that drives the robot to track desired paths. Some parameters in the proposed neural dynamics based controller need to be selected. A genetic algorithm is designed to optimize the model parameters that can guarantee the convergence of tracking error of the mobile robot. Simulation studies of a fourdegree-of-freedom mobile robot are conducted, which demonstrate the effectiveness of the proposed motion controller.
Sponsorship	Lee Found. IEEE Montreal Sect. Candian Soc. Mechanical Eng
Starting Page	911
Ending Page	916
File Size	514374
Page Count	6
File Format	PDF
ISBN	078037777X
DOI	10.1109/ICCA.2003.1595155
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-06-12
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Genetic algorithms Biological system modeling Equations Biomembranes Algorithm design and analysis Design optimization Convergence Motion control
Content Type	Text
Resource Type	Article

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