Abstract
This paper presents a cognition path planning with control algorithm design for a nonholonomic wheeled mobile robot based on Particle Swarm Optimization (PSO) algorithm. The aim of this work is to propose the circular roadmap (CRM) method to plan and generate optimal path with free navigation as well as to propose a nonlinear MIMO-PID-MENN controller in order to track the wheeled mobile robot on the reference path. The PSO is used to find an online tune the control parameters of the proposed controller to get the best torques actions for the wheeled mobile robot. The numerical simulation results based on the Matlab package show that the proposed structure has a precise and highly accurate distance of the generated reference path as well as it has obtained a perfect torque control action without spikes and no saturation torque state that leads to minimize the tracking error for the wheeled mobile robot.
Highlights
The MATLAB package is used as a numerical simulation m.file to verify the cognition structure based on a new nonlinear MIMO-PID-MENN controller for the mobile robot in order to plan and track the reference path with free-navigation
The first step in the cognition structure is carried out the proposed circular roadmap (CRM) methodology in order to get the optimal reference path and the second step is executed the path tracking based on the nonlinear MIMO-PID-MENN controller with Particle Swarm Optimization (PSO) algorithm
The numerical simulation results of the proposed cognition circular roadmap methodology and nonlinear MIMO-PID-MENN controller based on the PSO algorithm is presented in this paper for the mobile robot system which shows the following capabilities: Highly accurate short reference path distance is obtained between the starting point and the target position for the mobile robot during working in obstacles environment
Summary
The motion of the robot is determined by the two independent actuators DC motors that providing torque to the two wheels of the mobile robot. The mass center of the robot is located at point c, Tian, et al, 2009. The kinematic model of the wheeled mobile robot is represented by Eq (1), Al-Araji, et al, 2011, as follows:. Where: r and l are the angular velocity of the right and left wheel respectively. X and y are the velocity of the robot in the direction of X-axis and Y-axis respectively; r: Radius of each driving wheel (m); L: Distance separating the two driving wheels; θ: The angle of rotation of the robot measured from X-axis. For pure rolling and non-slipping constraints for the mobile robot as in Eq (2), Dagher and Al-
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