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2013 (Vol. 5, Issue: 15)
Article Information:

Improved Genetic Algorithm Lyapunov-Based Controller for Mobile Robot Tracking a Moving Target

Karim Benbouabdallah and Zhu Qi-Dan
Corresponding Author:  Karim Benbouabdallah 

Key words:  Genetic algorithm, lyapunov-based controller, mobile robot, target tracking, , ,
Vol. 5 , (15): 4023-4028
Submitted Accepted Published
December 15, 2012 January 23, 2013 April 25, 2013
Abstract:

Target tracking is taken account as one of the most important topics in mobile robotics. This study addresses the problem of controlling of non-holonomic mobile robot to track a moving target. The control technique relies on Lyapunov stability to design a robust nonlinear control law to fulfill the target tracking. The proposed controller computes both the robot linear and angular velocities to regulate the position and orientation of the robot according to the moving target position. In addition, a genetic algorithm was applied to improve the controllerís performance by tuning its coefficients. Finally, simulations results are provided to verify the applicability and effectiveness of the proposed control approach.
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  Cite this Reference:
Karim Benbouabdallah and Zhu Qi-Dan, 2013. Improved Genetic Algorithm Lyapunov-Based Controller for Mobile Robot Tracking a Moving Target.  Research Journal of Applied Sciences, Engineering and Technology, 5(15): 4023-4028.
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ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
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