Chaotic Puma Optimizer Algorithm for controlling wheeled mobile robots

IF 5.4 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY Engineering Science and Technology-An International Journal-Jestech Pub Date : 2025-03-01 Epub Date: 2025-02-02 DOI:10.1016/j.jestch.2025.101982

Mohamed Kmich , Nawal El Ghouate , Ahmed Bencharqui , Hicham Karmouni , Mhamed Sayyouri , S.S. Askar , Mohamed Abouhawwash

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Abstract

The control of wheeled mobile robots plays a crucial role in many fields, including automation, logistics, security, and even space exploration. This paper presents a significant improvement in the control of wheeled mobile robots based on an enhanced version of the Puma optimization algorithm by integrating chaotic maps in both optimization phases, exploration and exploitation. The Chaotic Puma Optimizer Algorithm (CPOA) has been tested and proven effective on CEC’2022 benchmarks and three complex engineering problems. It has outperformed standard and improved metaheuristic algorithms in controlling nonlinear and time-varying wheeled mobile robots. The results show a notable improvement in terms of response time and stability, thus expanding the potential applications of this optimizer in various fields of engineering and robotics.

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轮式移动机器人控制的混沌Puma优化算法

轮式移动机器人的控制在自动化、物流、安全甚至太空探索等许多领域发挥着至关重要的作用。本文提出了一种改进的Puma优化算法，通过在优化阶段、探索阶段和开发阶段集成混沌映射，显著改善了轮式移动机器人的控制。混沌美洲豹优化算法（CPOA）已经在CEC 2022基准测试和三个复杂的工程问题上被证明是有效的。它在控制非线性时变轮式移动机器人方面优于标准和改进的元启发式算法。结果表明，该优化器在响应时间和稳定性方面有显著改善，从而扩大了该优化器在工程和机器人各个领域的潜在应用。

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来源期刊

Engineering Science and Technology-An International Journal-Jestech Materials Science-Electronic, Optical and Magnetic Materials

CiteScore

11.20

自引率

3.50%

发文量

153

审稿时长

22 days

期刊介绍： Engineering Science and Technology, an International Journal (JESTECH) (formerly Technology), a peer-reviewed quarterly engineering journal, publishes both theoretical and experimental high quality papers of permanent interest, not previously published in journals, in the field of engineering and applied science which aims to promote the theory and practice of technology and engineering. In addition to peer-reviewed original research papers, the Editorial Board welcomes original research reports, state-of-the-art reviews and communications in the broadly defined field of engineering science and technology. The scope of JESTECH includes a wide spectrum of subjects including: -Electrical/Electronics and Computer Engineering (Biomedical Engineering and Instrumentation; Coding, Cryptography, and Information Protection; Communications, Networks, Mobile Computing and Distributed Systems; Compilers and Operating Systems; Computer Architecture, Parallel Processing, and Dependability; Computer Vision and Robotics; Control Theory; Electromagnetic Waves, Microwave Techniques and Antennas; Embedded Systems; Integrated Circuits, VLSI Design, Testing, and CAD; Microelectromechanical Systems; Microelectronics, and Electronic Devices and Circuits; Power, Energy and Energy Conversion Systems; Signal, Image, and Speech Processing) -Mechanical and Civil Engineering (Automotive Technologies; Biomechanics; Construction Materials; Design and Manufacturing; Dynamics and Control; Energy Generation, Utilization, Conversion, and Storage; Fluid Mechanics and Hydraulics; Heat and Mass Transfer; Micro-Nano Sciences; Renewable and Sustainable Energy Technologies; Robotics and Mechatronics; Solid Mechanics and Structure; Thermal Sciences) -Metallurgical and Materials Engineering (Advanced Materials Science; Biomaterials; Ceramic and Inorgnanic Materials; Electronic-Magnetic Materials; Energy and Environment; Materials Characterizastion; Metallurgy; Polymers and Nanocomposites)