Intelligent Motion Control for Four-Wheeled Holonomic Mobile Robots Using FPGA-Based Artificial Immune System Algorithm
Author
Source
Advances in Mechanical Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-12-10
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
This paper presents an intelligent motion controller for four-wheeled holonomic mobile robots with four driving omnidirectional wheels equally spaced at 90 degrees from one another by using field-programmable gate array (FPGA)-based artificial immune system (AIS) algorithm.
Both the nature-inspired AIS computational approach and motion controller are implemented in one FPGA chip to address the optimal control problem of real-world mobile robotics application.
The proposed FPGA-based AIS method takes the advantages of artificial intelligence and FPGA technology by using system-on-a-programmable chip (SoPC) methodology.
Experimental results are conducted to show the effectiveness and merit of the proposed FPGA-based AIS intelligent motion controller for four-wheeled omnidirectional mobile robots.
This FPGA-based AIS autotuning intelligent controller outperforms the conventional nonoptimal controllers, the genetic algorithm (GA) controller, and the particle swarm optimization (PSO) controller.
American Psychological Association (APA)
Huang, Hsu-Chih. 2013. Intelligent Motion Control for Four-Wheeled Holonomic Mobile Robots Using FPGA-Based Artificial Immune System Algorithm. Advances in Mechanical Engineering،Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-483157
Modern Language Association (MLA)
Huang, Hsu-Chih. Intelligent Motion Control for Four-Wheeled Holonomic Mobile Robots Using FPGA-Based Artificial Immune System Algorithm. Advances in Mechanical Engineering No. 2013 (2013), pp.1-11.
https://search.emarefa.net/detail/BIM-483157
American Medical Association (AMA)
Huang, Hsu-Chih. Intelligent Motion Control for Four-Wheeled Holonomic Mobile Robots Using FPGA-Based Artificial Immune System Algorithm. Advances in Mechanical Engineering. 2013. Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-483157
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-483157