By Topic

Intelligent motion control for omnidirectional mobile robots using parallel ACO algorithm

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Hsu-Chih Huang ; Department of Computer Science and Information Engineering, HungKuang University, Taichung, Taiwan, R.O.C.

This paper presents a parallel ACO (ant colony optimization) algorithm and its application to optimal motion controller design for omnidirectional mobile robots. Both parallel ACO (PACO) parameter tuner and motion controller are integrated in one FPGA (field programmable gate arrays) chip to efficiently construct an experimental omnidirectional mobile robot. The optimal parameters of the motion controller are obtained by minimizing the performance index using the proposed PACO algorithm. These optimal parameters are then employed in the PACO-based embedded motion controller to achieve trajectory tracking and stabilization with better performance. Experimental results are conducted to show the effectiveness and merit of the proposed PACO algorithm for omnidirectional mobile robots.

Published in:

Proceedings 2011 International Conference on System Science and Engineering

Date of Conference:

8-10 June 2011