A comparative study of various intelligent optimization algorithms based on path planning and neural controller for mobile robot
Other Title(s)
دراسة مقارنة لخوارزميات ذكية متنوعة أساسه تخطيط المسار و مسيطر عصبي لإنسان آلي متنقل
Joint Authors
Ibrahim, Bakr Ali
al-Araji, Ahmad Sabah Abd al-Amir
Source
Issue
Vol. 25, Issue 8 (31 Aug. 2019), pp.80-99, 20 p.
Publisher
University of Baghdad College of Engineering
Publication Date
2019-08-31
Country of Publication
Iraq
No. of Pages
20
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
In this paper, a cognitive system based on a nonlinear neural controller and intelligent algorithm that will guide an autonomous mobile robot during continuous path-tracking and navigate over solid obstacles with avoidance was proposed.
The goal of the proposed structure is to plan and track the reference path equation for the autonomous mobile robot in the mining environment to avoid the obstacles and reach to the target position by using intelligent optimization algorithms.
Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) Algorithms are used to finding the solutions of the mobile robot navigation problems in the mine by searching the optimal paths and finding the reference path equation of the optimal path.
As well as, PSO algorithm is used to find and tune on-line the neural control gains values of the nonlinear neural controller to obtain the best torques actions of the wheels for the mining autonomous mobile robot.
Simulation results by MATLAB showed that the proposed cognitive system is more accurate in terms of planning reference path to avoid obstacles and online finding and tuning parameters of the controller which generated smoothness control action without saturation state for tracking the reference path equation as well as minimize the mobile robot tracking pose error to zero value.
American Psychological Association (APA)
al-Araji, Ahmad Sabah Abd al-Amir& Ibrahim, Bakr Ali. 2019. A comparative study of various intelligent optimization algorithms based on path planning and neural controller for mobile robot. Journal of Engineering،Vol. 25, no. 8, pp.80-99.
https://search.emarefa.net/detail/BIM-891304
Modern Language Association (MLA)
al-Araji, Ahmad Sabah Abd al-Amir& Ibrahim, Bakr Ali. A comparative study of various intelligent optimization algorithms based on path planning and neural controller for mobile robot. Journal of Engineering Vol. 25, no. 8 (Aug. 2019), pp.80-99.
https://search.emarefa.net/detail/BIM-891304
American Medical Association (AMA)
al-Araji, Ahmad Sabah Abd al-Amir& Ibrahim, Bakr Ali. A comparative study of various intelligent optimization algorithms based on path planning and neural controller for mobile robot. Journal of Engineering. 2019. Vol. 25, no. 8, pp.80-99.
https://search.emarefa.net/detail/BIM-891304
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 98-99
Record ID
BIM-891304