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Browse Conference Publications > Robotics and Automation, 1999 ... Help

Nonlinear MBPC for mobile robot navigation using genetic algorithms

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4 Author(s)
Ramirez, D.R. ; Dept. de Ingenieria de Sistemas y Autom., Seville Univ., Spain ; Limón, D. ; Gomez-Ortega, J. ; Camacho, E.F.

This paper presents a way of implementing a model-based predictive controller (MBPC) for mobile robot navigation using genetic algorithms to perform online nonlinear optimization. Obstacle avoidance is considered by the controller. Constraints on the maximum attainable speeds are also considered by the algorithm. Experimental results obtained when applying the controller to a TRC LABMATE mobile platform are given in the paper

Published in:
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:3 )

Date of Conference: 1999

Page(s):
2452 - 2457 vol.3
Meeting Date :
10 May 1999-15 May 1999
ISSN :
1050-4729
Print ISBN:
0-7803-5180-0
INSPEC Accession Number:
6352246
Conference Location :
Detroit, MI
Digital Object Identifier :
10.1109/ROBOT.1999.770473
Product Type:
Conference Publications

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