Design of optimal kinematic controller based on GA-ACO hybrid algorithm for four-wheeled omnidirectional mobile robots

摘要

This paper presents an optimal kinematic controller based on genetic algorithm (GA)-ant colony optimization (ACO) hybrid metaheuristic algorithm for four-wheeled omnidirectional mobile robots. The optimal parameters of kinematic controller are obtained by minimizing the performance index using the proposed GA-ACO hybrid algorithm. GA has been combined with ACO in evolving new solutions by applying crossover and mutation operators on solutions constructed by ants. These optimal parameters are used in the GA-ACO kinematic 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 GA-ACO optimal kinematic controller for four-wheeled omnidirectional mobile robots.