Optimal Controller Design for a Mobile Robot Using Genetic Algorithm and Adaptive PID Controller

Optimal Controller Design for a Mobile Robot Using Genetic Algorithm and Adaptive PID Controller

This paper addresses the challenge of enabling a mobile robot to reach target coordinates and posture in minimal time by tackling the complexities of kinematic optimal control problems. Determining optimal control gains is analytically challenging, especially when incorporating dynamic models. The m...

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Bibliographic Details
Main Author: Jin-Hyun Park
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Mobile robot
optimal control
kinematic control
dynamic control
genetic algorithm
cubic polynomial interpolation
Online Access:https://ieeexplore.ieee.org/document/11005461/
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