- author = "Abeer M. Mahmoud",
- title = "Genetic Programming Based Position Estimator and Control Model for Tracking Wheeled Robot Curvatures",
- journal = "Egyptian Computer Science Journal",
- year = "2015",
- volume = "39",
- number = "2",
- pages = "32--42",
- month = may,
- keywords = "genetic algorithms, genetic programming, Wheel robot, Simulation, Estimation",
- ISSN = "1110-2586",
-
URL = "
http://ecsjournal.org/Archive/Volume39/Issue2/2.pdf",
- size = "11 pages",
- abstract = "Wheeled mobile robots (WMRs) have a numerous applications and planetary of exploration tasks, all of which require building the suitable dynamic model of the robot. Also, the optimal control model that is intended to guide the robot to accomplish its mission is of a significant need. In addition, it is a certain that achieving a success in the robot controller mission requires an accurate estimation of the robot trajectory for setting the right control parameters and predicting the robot behaviour in different situations. The overall WMR dynamics subject to skidding, wheel slip, regulation control and turning control are formulated and simulated in this paper for a commercial four wheel robot. In addition, the paper proposes a new genetic programming (GP) based control model for tracking curvature trajectory of a four wheels robot. The proposed model(GPCE) achieved a promising refinement in the robot of curvature estimation and simulation hence provided accurate control parameters for trajectory tracking.",
-
notes = "Figure 1: GAIA-1arobot and simulated
model
http://ecsjournal.org/Default.aspx Computer Science dept., Faculty of Computer and Information Sciences, Ain Shams University, Cairo, Egypt",
