Intelligent Control for Mobile Robot Path Tracking Based on Advanced PSO

Abstract:

The four-wheeled mobile robot driving by rear-wheel has some characteristics such as nonholomic constraint, complex model and nonlinear and time variability of steering system. An intelligent PID path tracking method based on preview follower theory was proposed, which acquired by improved particle swarm optimization algorithm, and the self-tuning of control of system was achieved. The result indicated that the mobile robot controlled by the proposed approach can follow various reference paths accurately and robustly. Compares to conventional PSO control method ,possesses the advantages of high precise ,great adaptability and robustness.

• Periodical: Applied Mechanics and Materials (Volume 391)
• Pages: 461-464
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.391.461
• Online since: September 2013
• Authors: De Fang Cheng, Hui Shan Han, Hai Fen Liu, Jing Wei Ji
• Keywords: Mobile Robot, Particle Swarm Optimization (PSO), Path Tracking, PSO Control

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