Control parameter design for robot vehicle based on numerical simulation and heuristic optimization - Feed-back controller design for trajectory tracking under strict physical constraints in wide speed range -

@article{Watanabe2011ControlPD,
  title={Control parameter design for robot vehicle based on numerical simulation and heuristic optimization - Feed-back controller design for trajectory tracking under strict physical constraints in wide speed range -},
  author={Atsushi Watanabe and Akihisa Ohya and Shin'ichi Yuta},
  journal={Computational Intelligence in Control and Automation (CICA)},
  year={2011},
  pages={137-142}
}
For the construction of the mobile robot system, it is necessary to determine a lot of parameters like the feedback gain and the clip parameters of artificial saturation. And it is difficult to decide suitable parameters by analytical technique because of its non-linearity and complexity. In this paper, we propose the method of the mobile robot control system parameter design by a numerical simulation and heuristic optimization using the enough computer power. We describe the model of the… CONTINUE READING

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