{"title":"具有滑移条件的滑移转向移动机器人的遗传非线性控制器","authors":"O. Elshazly, Z. Zyada, A. Abo-Ismail","doi":"10.1109/AQTR.2014.6857868","DOIUrl":null,"url":null,"abstract":"In this paper, the kinematics of a skid steering mobile robot is controlled using a nonlinear controller augmented with a genetic algorithm which is used to tune the controller parameters. The controller is simple in terms of design and implementation. Moreover, it maintains good performance and has stronger robustness. Furthermore, the proposed controller is used to control an extended kinematics model taking into account slip effects to test the validity and enhancement of the controller. Simulation results are included.","PeriodicalId":297141,"journal":{"name":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","volume":"93 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Genetic nonlinear controller of a skid steering mobile robot with slip conditions\",\"authors\":\"O. Elshazly, Z. Zyada, A. Abo-Ismail\",\"doi\":\"10.1109/AQTR.2014.6857868\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, the kinematics of a skid steering mobile robot is controlled using a nonlinear controller augmented with a genetic algorithm which is used to tune the controller parameters. The controller is simple in terms of design and implementation. Moreover, it maintains good performance and has stronger robustness. Furthermore, the proposed controller is used to control an extended kinematics model taking into account slip effects to test the validity and enhancement of the controller. Simulation results are included.\",\"PeriodicalId\":297141,\"journal\":{\"name\":\"2014 IEEE International Conference on Automation, Quality and Testing, Robotics\",\"volume\":\"93 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-05-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 IEEE International Conference on Automation, Quality and Testing, Robotics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AQTR.2014.6857868\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AQTR.2014.6857868","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Genetic nonlinear controller of a skid steering mobile robot with slip conditions
In this paper, the kinematics of a skid steering mobile robot is controlled using a nonlinear controller augmented with a genetic algorithm which is used to tune the controller parameters. The controller is simple in terms of design and implementation. Moreover, it maintains good performance and has stronger robustness. Furthermore, the proposed controller is used to control an extended kinematics model taking into account slip effects to test the validity and enhancement of the controller. Simulation results are included.
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