Trajectory Tracking Controllers for Mobile Robot : Modeling, Design and Optimization

ISBN-13: 9783659873164 / Angielski / Miękka / 2016 / 128 str.

Nizar Hadi Abbas; Basma Jumiaa Saleh

Opis

The book, Trajectory Tracking Controllers for Mobile Robots: Modeling, Design and Optimization, provides a comprehensive treatment of the problems of mobile robot control. The most significant thing is to prevent the mobile robot drifting from the desired path by finding the kinematic control law, which is responsible for establishing a smooth control signal and minimizing the tracking error. In this book two optimization algorithms are developed using swarm-based optimization algorithms. The Firefly (FF), Harmony Search (HS) and Artificial Bee Colony (ABC) algorithms are used for solving the trajectory tracking controller's tuning. This work present Hybrid Crossoved Firefly with Artificial Bee Colony (CFA-ABC) and on Hybrid Mutated Harmony Search with the Artificial Bee Colony (MHS-ABC) algorithms.The proposed control laws, including (neural, back-stepping and sliding mode) kinematic controller, are utilized to control a differential wheeled mobile robot to enhance the capability of tracking various continuous trajectories. This book is primarily intended as a mobile robot trajectory controlling and optimization course. The book would also be useful for the postgraduate students.

O autorze

Dr. Nizar Hadi Abbas obtained his B.Sc. and M.Sc. degree in Electrical Engineering from College of Engineering, Baghdad University, Baghdad, Iraq, in 2000 and 2002 respectively and Ph.D. degree in Electronics and Communication Engineering from University College of Engineering, Osmania University, Hyderabad, A.P., India in 2011.