- author = "Marlen Meza-Sanchez and Eddie Clemente and M. C. Rodriguez-Linan and Gustavo Olague",
- title = "Synthetic-analytic behavior-based control framework: Constraining velocity in tracking for nonholonomic wheeled mobile robots",
- journal = "Information Sciences",
- year = "2019",
- volume = "501",
- pages = "436--459",
- month = oct,
- keywords = "genetic algorithms, genetic programming, Synthetic-analytic behaviours, Bounded velocity, Evolutionary robotics, Nonholonomic mobile robots, Nonlinear tracking control",
- ISSN = "0020-0255",
-
URL = "
https://www.human-competitive.org/sites/default/files/meza-sanchez_0.txt",
-
URL = "
https://www.human-competitive.org/sites/default/files/synthetic-analytic_behavior-based_control_framework_constraining_velocity_in_tracking_for_nonholonomic_wheeled_mobile_robots_1.pdf",
-
URL = "http://www.sciencedirect.com/science/article/pii/S0020025519305602",
-
DOI = "
doi:10.1016/j.ins.2019.06.025",
-
video_url = "http://www.human-competitive.org/sites/default/files/meza-sanchezvideo.mp4",
- size = "24 pages",
- abstract = "This work presents a genetic programming control design methodology that extends the traditional behaviour-based control strategy towards a synthetic-analytic perspective. The proposed approach considers the internal and external dynamics of the system, providing solutions to a general structure, and including analytic functions, which can be studied within the Control Theory framework. The method is illustrated for the tracking control problem under bounded velocity restrictions of a nonholonomic wheeled mobile robot. A classic Control Theory (CT) based controller that solves the tracking problem (but not the velocity constraint requirement) is chosen from the literature; based on its stability properties, a modified structure where the search of suitable analytic basis behaviors, fulfilling both control objectives simultaneously, can be introduced. The proposed framework takes the form of a learning process based on Genetic Programming (GP) which generates a set of nonlinear tracking controllers satisfying pre-specified velocity bounds. A collection of 9113 suitable nonlinear solutions were obtained to augment the ground controller. Simulations and real-time experiments are performed to illustrate the effectiveness of the methodology through the testing of the models with the best performance, as well as those with lower structural complexity.",
-
notes = "2020 HUMIES silver winner
also known as \cite{MEZASANCHEZ2019436}",
