Development of Kinematic Path-Tracking Controller Design for Real Mobile Robot via Back-Stepping Slice Genetic Robust Algorithm Technique

作者：Al Araji Ahmed Sabah^*

来源：Arabian Journal for Science and Engineering, 2014, 39(12): 8825-8835.

DOI：10.1007/s13369-014-1461-4

• NI mobile robots
• Kinematic controller
• Back-stepping technique
• Slice genetic algorithm
• Path tracking
• MATLAB package
• LabVIEW package

This paper proposes a new development of kinematic path-tracking control algorithm for differential wheeled mobile robot system, using back-stepping technique based online auto-tuning slice genetic algorithm (SGA). The aim of the proposed robust feedback nonlinear kinematic controller is to find the optimal velocity control action for the real National Instrument mobile robot model in following a pre-defined continuous path precisely and quickly. The SGA guided by Lyapunov stability criterion is implemented as a stable and robust online auto-tune algorithm to find the optimal parameters for the proposed controller. The robustness and effectiveness of the proposed tuning control algorithm are validated by MATLAB simulation results and LabVIEW experimental work; this is demonstrated by overcoming the unmodeled kinematic disturbances, minimizing the tracking error and obtaining the smooth and optimal velocity control signals, with the minimum number of fitness evaluation.

• 出版日期2014-12