NDLI: Particle swarm optimization — Based identification of a bouncing spherical robot

Content Provider	IEEE Xplore Digital Library
Author	Abdullah, M.A. Ahmad, S. Toha, S.F.
Copyright Year	2015
Description	Author affiliation: Dept. of Mechatron. Eng., Int. Islamic Univ. Malaysia, Kuala Lumpur, Malaysia (Abdullah, M.A.; Ahmad, S.; Toha, S.F.)
Abstract	In this paper a spherical robot consists of a spherical steel spokes shell and an inner bouncing mechanism. To control the bouncing mechanism, a system model should be introduced. The system model only deal with the first bounce of the spherical mobile robot to overcome the bouncing restitution for landing. This paper presents a transfer function model prediction with particle swarm optimization for a bouncing spherical mobile robot. The particle swarm optimization technique is used in search for accurate model with capability to adapt with different input height of drop. The model is further validated with autocorrelation and cross-correlation test and it is proven to give an error tolerance between the 95% confidence limit.
Starting Page	1
Ending Page	6
File Size	557588
Page Count	6
File Format	PDF
ISBN	9781479978625
DOI	10.1109/ASCC.2015.7244901
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-31
Publisher Place	Malaysia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	modeling spherical mobile robot Transfer functions Predictive models transfer function model prediction particle swarm optimization Mobile robots Mathematical model Steel Particle swarm optimization
Content Type	Text
Resource Type	Article

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