Point Stabilization of Wheeled Mobile Robots Based on Artificial Potential Field and Genetic Algorithm

摘要

Point stabilization is the major control problem of nonholonomic wheeled mobile robots (WMRs). In this paper, a novel simple tracking controller is presented based on the kinematics models. An artificial potential field is used to navigate the wheeled robot in the controller. Easy design, fast convergence, and adaptability to other nonholonomic mobile are obvious advantages. The control parameters of this system are optimized by genetic algorithm. Then, the parameters are tuned and used in the actual system. The good effect of the control is gotten. The stability of the controller is confirmed, and the effectiveness of the controller is demonstrated via computer simulation and their implementation.