Servocontrol of a Mobile Robot by Using Genetic Algorithms

Jun Tang; Keigo Watanabe; Katsutoshi Kuribayashi

doi:10.20965/jrm.1999.p0140

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JRM Vol.11 No.2 pp. 140-147

doi: 10.20965/jrm.1999.p0140

(1999)

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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:

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.

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Servocontrol of a Mobile Robot by Using Genetic Algorithms

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

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