Genetic nonlinear controller of a skid steering mobile robot with slip conditions

Abstract

In this paper, the kinematics of a skid steering mobile robot is controlled using a nonlinear controller augmented with a genetic algorithm which is used to tune the controller parameters. The controller is simple in terms of design and implementation. Moreover, it maintains good performance and has stronger robustness. Furthermore, the proposed controller is used to control an extended kinematics model taking into account slip effects to test the validity and enhancement of the controller. Simulation results are included.