Improved Genetic Algorithm Lyapunov-Based Controller for Mobile Robot Tracking a Moving Target

摘要

Target tracking is taken account as one of the most important topics in mobile robotics. This study addresses the problem of controlling of non-holonomic mobile robot to track a moving target. The control technique relies on Lyapunov stability to design a robust nonlinear control law to fulfill the target tracking. The proposed controller computes both the robot linear and angular velocities to regulate the position and orientation of the robot according to the moving target position. In addition, a genetic algorithm was applied to improve the controller's performance by tuning its coefficients. Finally, simulations results are provided to verify the applicability and effectiveness of the proposed control approach.