Evolution of Control Systems for Mobile Robots
نویسندگان
چکیده
The advantages and disadvantages of evolving neural control systems for mobile robots using genetic algorithms are investigated. The Khepera robot is trained using the evolutionary neural networks (E“) algorithm for the task of obstacle avoidance. The feasibility of using Q-learning for robot learning is also studied. It is found that Q-learning can be successfully used to train a robot and is more promising than the ENN algorithm on this case. The Webots simulation software has been used to carry out all the experiments.
منابع مشابه
Cooperative Control of Mobile Robots in Creating a Runway Platform for Quadrotor Landing
Multi-agent systems are systems in which several agents accomplish a mission in a cooperative manner. In this paper, a novel idea for the construction of a movable runway platform based on multi-agent systems is presented. It is assumed that an aerial agent (quadrotor) decides to make an emergency landing due to reasons such as a decrease in energy level or technical failure, while there is no ...
متن کاملAre Autonomous Mobile Robots Able to Take Over Construction? A Review
Although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. Today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...
متن کاملControl of Wheeled Mobile Manipulators with Flexible Suspension Considering Wheels Slip Effects
Wheeled mobile manipulators utilize both the locomotion capabilities of the wheeled platform and manipulation capacity of the arm. While the modelling and control of such systems have previously been studied, most of them have considered robots with rigid suspension and their wheels are subject to pure rolling conditions. To relax the aforementioned limiting assumptions, this research addresses...
متن کاملDelay Compensation on Fuzzy Trajectory Tracking Control of Omni-Directional Mobile Robots
This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances. On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...
متن کاملFormation Control and Path Planning of Two Robots for Tracking a Moving Target
This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...
متن کاملTrajectory Tracking of Two-Wheeled Mobile Robots, Using LQR Optimal Control Method, Based On Computational Model of KHEPERA IV
This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...
متن کامل