Synthetic-analytic behavior-based control framework: Constraining velocity in tracking for nonholonomic wheeled mobile robots

Created by W.Langdon from gp-bibliography.bib Revision:1.8481

@Article{Meza-Sanchez:2019:IS,

• author = "Marlen Meza-Sanchez and Eddie Clemente and M. C. Rodriguez-Linan and Gustavo Olague",
• title = "Synthetic-analytic behavior-based control framework: Constraining velocity in tracking for nonholonomic wheeled mobile robots",
• journal = "Information Sciences",
• year = "2019",
• volume = "501",
• pages = "436--459",
• month = oct,
• note = "2020 HUMIES silver winner",
• keywords = "genetic algorithms, genetic programming, Synthetic-analytic behaviours, Bounded velocity, Evolutionary robotics, Nonholonomic mobile robots, Nonlinear tracking control",
• ISSN = "0020-0255",
• URL = "https://www.human-competitive.org/sites/default/files/meza-sanchez_0.txt",
• URL = "https://www.human-competitive.org/sites/default/files/synthetic-analytic_behavior-based_control_framework_constraining_velocity_in_tracking_for_nonholonomic_wheeled_mobile_robots_1.pdf",
• URL = "http://www.sciencedirect.com/science/article/pii/S0020025519305602",
• DOI = "doi:10.1016/j.ins.2019.06.025",
• video_url = "http://www.human-competitive.org/sites/default/files/meza-sanchezvideo.mp4",
• size = "24 pages",
• abstract = "This work presents a genetic programming control design methodology that extends the traditional behaviour-based control strategy towards a synthetic-analytic perspective. The proposed approach considers the internal and external dynamics of the system, providing solutions to a general structure, and including analytic functions, which can be studied within the Control Theory framework. The method is illustrated for the tracking control problem under bounded velocity restrictions of a nonholonomic wheeled mobile robot. A classic Control Theory (CT) based controller that solves the tracking problem (but not the velocity constraint requirement) is chosen from the literature; based on its stability properties, a modified structure where the search of suitable analytic basis behaviors, fulfilling both control objectives simultaneously, can be introduced. The proposed framework takes the form of a learning process based on Genetic Programming (GP) which generates a set of nonlinear tracking controllers satisfying pre-specified velocity bounds. A collection of 9113 suitable nonlinear solutions were obtained to augment the ground controller. Simulations and real-time experiments are performed to illustrate the effectiveness of the methodology through the testing of the models with the best performance, as well as those with lower structural complexity.",
• notes = "also known as \cite{MEZASANCHEZ2019436}",

}

Genetic Programming entries for Marlen Meza-Sanchez Eddie Helbert Clemente Torres Maria del Carmen Rodriguez-Linan Gustavo Olague

Citations