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Journal Nonlinear World №7 for 2014 г.
Article in number:
Automatic control system synthesis for mobile robot by network operator and intellectual evolution method
Keywords: synthesis problem control system evolutionary algorithms network operator mobile robot
Authors:
A.I. Diveev - Dr. Sc. (Eng.), Professor, Head of Department, Dorodnicyn Computing Centre of RAS. E-mail: aidiveev@mail.ru
E.Y. Shmalko - Ph. D. (Eng.), Research Scientist, Dorodnicyn Computing Centre of RAS (Moscow). E-mail: e.shmalko@gmail.com
Abstract:
This paper introduces the intellectual evolution method based on the network operator as a simple but flexible framework for approaching automatic control system synthesis problems. The intellectual evolution method is an extension of some evolutionary approaches that has recently been found to be useful in solving both parts of synthesis problem such as searching a structure of the control function and its parameters. A numerical example of control system synthesis for a wheeled mobile robot by the developed method is presented. In the example two-wheeled mobile robot has to move along a predetermined path defined by a set of points coordinates. Computer experiment showed the high quality of the resulting control system that ensures fast and accurate movement of the robot along the path.
Pages: 42-47
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