Abstract This paper presents an intelligent motion controller for four-wheeled omnidirectional mobile robots with four independent driving wheels equally spaced at 90 degrees from one another by using ant colony optimization (ACO). The optimal parameters of motion controller are obtained by minimizing the performance index using the metaheuristic ACO algorithm. These optimal parameters are used in the ACO motion controller to obtain better performance for four-wheeled omnidirectional mobile robots to achieve both trajectory tracking and stabilization. Simulation results are conducted to show the effectiveness and merit of the proposed ACO-based intelligent motion controller for four-wheeled omnidirectional mobile robots.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Intelligent Motion Control for Four-Wheeled Omnidirectional Mobile Robots Using Ant Colony Optimization


    Contributors:


    Publication date :

    2011-01-01


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Intelligent Motion Control for Four-Wheeled Omnidirectional Mobile Robots Using Ant Colony Optimization

    Huang, H.-C. / Federation of International Robot-soccer Association | British Library Conference Proceedings | 2011


    Four Wheeled Mobile Robots: A Review

    Ling Leong, Jovina Seau / Kin Teo, Kenneth Tze / Yoong, Hou Pin | IEEE | 2022


    Image Based Visual Servoing for Omnidirectional Wheeled Mobile Robots in Voltage Mode

    Armando Saenz / Victor Santibañez / Eusebio Bugarin | BASE | 2018

    Free access

    Issues in Contact Motion Control for Wheeled Mobile Robots

    Necsulescu, D. S. / Kim, B. / Reynaud, H. et al. | British Library Conference Proceedings | 1992


    Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method

    Weihao Li / Chenguang Yang / Yiming Jiang et al. | DOAJ | 2017

    Free access