机械与电子2016，Vol.34Issue(7)：67-70,4.
基于差分进化遗传优化的移动机器人轨迹跟踪控制
Trajectory Tracking Control of Mobile Robots Optimized by Differential Evolution Genetic Algorithm
摘要
Abstract
The paper proposes a controller for wheeled mobile robots based on differential evolution ge‐netic algorithm aiming to improve the trajectory tracking accuracy of wheeled mobile robots .First ,a kine‐matics model of the four wheeled robot is established in the paper .Then ,taking the lateral distance and heading angle as control variables ,the controller design of trajectory tracking based on PID is implemen‐ted .Finally ,a differential evolution genetic algorithm is used to achieve the tuning of the controller pa‐rameters .Trajectory tracking test results show that the control precision of the controller optimized by differential evolution genetic algorithm is improved significantly compared with that of other controllers , which verifies the validity of the proposed controller .关键词
移动机器人/轨迹跟踪/控制器参数整定/差分进化遗传优化Key words
mobile robot/trajectory tracking/controller parameter tuning/differential evolution genetic optimization分类
信息技术与安全科学引用本文复制引用
姜烽,申燚,张成,周文铭,袁明新..基于差分进化遗传优化的移动机器人轨迹跟踪控制[J].机械与电子,2016,34(7):67-70,4.基金项目
国家自然科学基金（61105071）；张家港市香樟树众创空间服务中心入驻项目（XZS201501）；2015年江苏省高等学校大学生实践创新训练计划 （）
