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Variation of genetic programming to synthesize motion control of mobile robot for spatial trajectories

Keywords:

A.I. Diveev – Dr. Sc. (Eng.), Professor, Head of Department, Dorodnicyn Computing Centre of RAS (Moscow). E-mail: aidiveev@mail.ru S.I. Ibadulla – Post-graduate Student, Peoples’ Friendship University of Russia. E-mail: sabit_sss@mail.ru


This paper is devoted to the solution of a synthesis problem of a control system for the movement of the mobile robot. The problem of stabilization of the mobile robot movement along the set spatial trajectories is considered. For the solution of the synthesis problem the method of variational genetic programming is used. In the course of the solution of the synthesis problem of synthesis some trajectories differing in existence not differentiable angular, points and the frequency of change of the directions of the movement were considered. The control system found by means of the variational genetic programming for one trajectory was checked on movement accuracy on other trajectories. As a result of numerical experiments one control system which provided the high-quality exact movement of the mobile robot on all set trajectories was received.
References:

 

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