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JRM Vol.11 No.2 pp. 140-147
doi: 10.20965/jrm.1999.p0140
(1999)

Paper:

Servocontrol of a Mobile Robot by Using Genetic Algorithms

Jun Tang*, Keigo Watanabe** and Katsutoshi Kuribayashi*

*Department of Mechanical Engineering, Faculty of Engineering, Yamaguchi University, 2557 Tokiwadai, Ube 755-8611, Japan

**Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Honjomachi-1, Saga 840-8502, Japan

Received:
July 30, 1998
Accepted:
February 1, 1999
Published:
April 20, 1999
Keywords:
servocontrollers, mobile robots, optimum servocontrol, genetic algorithms
Abstract

One problem that not yet solved in optimum servocontroller design is determination of positive definite matrices Q and R for the Riccati equation, although such servocontrollers have been applied in many complex control processes. We propose a way to tune weighting matrices by applying genetic algorithms (GAs) to type 1 and 2 optimum linear servocontrollers for a mobile robot. Simulation verified the controller’s effectiveness.

Cite this article as:
Jun Tang, Keigo Watanabe, and Katsutoshi Kuribayashi, “Servocontrol of a Mobile Robot by Using Genetic Algorithms,” J. Robot. Mechatron., Vol.11, No.2, pp. 140-147, 1999.
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