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


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

July 30, 1998
February 1, 1999
April 20, 1999
servocontrollers, mobile robots, optimum servocontrol, genetic algorithms
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:
J. Tang, K. Watanabe, and K. Kuribayashi, “Servocontrol of a Mobile Robot by Using Genetic Algorithms,” J. Robot. Mechatron., Vol.11 No.2, pp. 140-147, 1999.
Data files:

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jul. 19, 2024