Design of Polar-Space Kinematic Controller Based on Ant ColonyOptimization Computing Method for Omnidirectional Mobile Robots

摘要

This paper presents a polar-space optimal kinematic controller design based on ant colony optimization (ACO) computing method for omnidirectional mobile robots with three independent driving wheels equally spaced at 120 degrees from one another. The optimal control parameters are obtained by minimizing the performance index using the proposed ACO computing method. These optimal parameters are used in the ACO-based polar-space kinematic controller to obtain better performance for omnidirectional mobile robots to achieve both trajectory tracking and stabilization. Simulation results are conducted to show the effectiveness and merit of the proposed ACO-based polar-space kinematic controller for omnidirectional mobile robots.