INTELLIGENT MOTION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS USING ANT COLONY OPTIMIZATION

摘要

This article presents an intelligent sys/em-on-a-programmable-chip-based (SoPG) am colony optimization (AGO) motion controller for embedded omnidirectional mobile robots with three independent driving wheels eijually spaced, at 120 degrees from one another Both AGO parameter auto-tuner and kinematic motion controller are integrated in one field-programmable gale array (FPGA) chip to efficiently construel an experimental mobile robot. The optimal parameters of the motion controller are obtained by minimizing the performance index using the proposed SoPG-bascd A CO computing method. These optimal parameters are then employed in the ACO-based embedded kinematic controller in order to obtain better performance for omnidirectional mobile robots to achieve trajectory tracking and stabilization. Experimental results are conducted to show the effectiveness and merit of the proposed intelligent ACO-based embedded controller for omnidirectional mobile robots. These results indicate that the proposed ACO-based embedded optimal controller outperforms the nonopli-mal controllers and the conventional genetic algorithm (GA) optimal controllers.