Abstract
This paper presents an intelligent motion controller for four-wheeled omnidirectional mobile robots with four independent driving wheels equally spaced at 90 degrees from one another by using ant colony optimization (ACO). The optimal parameters of motion controller are obtained by minimizing the performance index using the metaheuristic ACO algorithm. These optimal parameters are used in the ACO motion controller to obtain better performance for four-wheeled omnidirectional mobile robots to achieve both trajectory tracking and stabilization. Simulation results are conducted to show the effectiveness and merit of the proposed ACO-based intelligent motion controller for four-wheeled omnidirectional mobile robots.
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