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Trajectory Tracking Controllers for Mobile Robot: Modeling, Design and Optimization - Couverture souple

Abbas, Nizar Hadi; Saleh, Basma Jumiaa

 
9783659873164: Trajectory Tracking Controllers for Mobile Robot: Modeling, Design and Optimization
Couverture souple
ISBN 10 : 3659873160 ISBN 13 : 9783659873164
Editeur : LAP LAMBERT Academic Publishing, 2016

Synopsis

The book, Trajectory Tracking Controllers for Mobile Robots: Modeling, Design and Optimization, provides a comprehensive treatment of the problems of mobile robot control. The most significant thing is to prevent the mobile robot drifting from the desired path by finding the kinematic control law, which is responsible for establishing a smooth control signal and minimizing the tracking error. In this book two optimization algorithms are developed using swarm-based optimization algorithms. The Firefly (FF), Harmony Search (HS) and Artificial Bee Colony (ABC) algorithms are used for solving the trajectory tracking controller's tuning. This work present Hybrid Crossoved Firefly with Artificial Bee Colony (CFA-ABC) and on Hybrid Mutated Harmony Search with the Artificial Bee Colony (MHS-ABC) algorithms.The proposed control laws, including (neural, back-stepping and sliding mode) kinematic controller, are utilized to control a differential wheeled mobile robot to enhance the capability of tracking various continuous trajectories. This book is primarily intended as a mobile robot trajectory controlling and optimization course. The book would also be useful for the postgraduate students.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

Présentation de l'éditeur

The book, Trajectory Tracking Controllers for Mobile Robots: Modeling, Design and Optimization, provides a comprehensive treatment of the problems of mobile robot control. The most significant thing is to prevent the mobile robot drifting from the desired path by finding the kinematic control law, which is responsible for establishing a smooth control signal and minimizing the tracking error. In this book two optimization algorithms are developed using swarm-based optimization algorithms. The Firefly (FF), Harmony Search (HS) and Artificial Bee Colony (ABC) algorithms are used for solving the trajectory tracking controller's tuning. This work present Hybrid Crossoved Firefly with Artificial Bee Colony (CFA-ABC) and on Hybrid Mutated Harmony Search with the Artificial Bee Colony (MHS-ABC) algorithms.The proposed control laws, including (neural, back-stepping and sliding mode) kinematic controller, are utilized to control a differential wheeled mobile robot to enhance the capability of tracking various continuous trajectories. This book is primarily intended as a mobile robot trajectory controlling and optimization course. The book would also be useful for the postgraduate students.

Biographie de l'auteur

Dr. Nizar Hadi Abbas obtained his B.Sc. and M.Sc. degree in Electrical Engineering from College of Engineering, Baghdad University, Baghdad, Iraq, in 2000 and 2002 respectively and Ph.D. degree in Electronics and Communication Engineering from University College of Engineering, Osmania University, Hyderabad, A.P., India in 2011.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP LAMBERT Academic Publishing
Date d'édition
2016
Langue
anglais
ISBN 10 
3659873160
ISBN 13 
9783659873164
Reliure
Broché
Nombre de pages
128
Coordonnées du fabricant
non disponible
Personne responsable
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