LS-SVM based motion control of a mobile robot in dynamic environment

In this paper, least squares support vector machine (LS-SVM) based motion control of a mobile robot in dynamic environment is proposed under the measured data with uncertainties. The proposed scheme can control the robot by consideration of local minima, where the controller is based on Lyapunov function candidate and considers virtual forces information. Comparing with standard support vector machine (SVM) method, LS-SVM method is used for estimating the control parameters from the measured data with uncertainties. Simulation results are presented to show the effectiveness of the proposed scheme.