Bounding Velocity in Tracking Control of Unicycle Mobile Robots with Genetic Programming
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gp-bibliography.bib Revision:1.8469
- @InProceedings{Meza-Sanchez:2018:COMRob,
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author = "Marlen Meza-Sanchez and Eddie Clemente and
Rodrigo Villalvazo and Gustavo Olague",
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title = "Bounding Velocity in Tracking Control of Unicycle
Mobile Robots with Genetic Programming",
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booktitle = "2018 XX Congreso Mexicano de Robotica (COMRob)",
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year = "2018",
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month = "12-14 " # sep,
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address = "Ensenada, Mexico",
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keywords = "genetic algorithms, genetic programming, unicycle
mobile robot, UMR, Mobile robots, Process control,
Trajectory, Tracking, Control theory",
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isbn13 = "978-1-5386-9220-2",
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DOI = "
doi:10.1109/COMROB.2018.8689409",
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size = "6 pages",
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abstract = "This paper introduces a methodology for the synthesis
of nonlinear tracking controllers. This approach is
applied to the navigation of unicycle mobile robots,
where a constrained velocity is pursued. The proposed
approach extends the notions of Behavior-based control
by redefining the basis behaviors as analytic
functions. The conception of natural behavior (which is
composed by unforced, forced and learned behaviors) in
order to characterize the properties, actions, and
restrictions, of the mobile robot, is introduced.
Within this approach, the Genetic Programming is
dynamically introduced, as a learning process, in the
structure of a Control-Theory-based tracking
controller. Then, a search of the set of fittest
learned behaviors, addressing the complete control
problem, is carried out. A selected solution with high
fitness value, from the discovered set of learned
behaviors, is simulated to show the effectiveness of
our proposed framework.",
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notes = "Also known as \cite{8689409}",
- }
Genetic Programming entries for
Marlen Meza-Sanchez
Eddie Helbert Clemente Torres
Rodrigo Villalvazo
Gustavo Olague
Citations