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Intelligent Motion Control for Four-Wheeled Omnidirectional Mobile Robots Using Ant Colony Optimization

  • Conference paper
Next Wave in Robotics (FIRA 2011)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 212))

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Abstract

This paper presents an intelligent motion controller for four-wheeled omnidirectional mobile robots with four independent driving wheels equally spaced at 90 degrees from one another by using ant colony optimization (ACO). The optimal parameters of motion controller are obtained by minimizing the performance index using the metaheuristic ACO algorithm. These optimal parameters are used in the ACO motion 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 ACO-based intelligent motion controller for four-wheeled omnidirectional mobile robots.

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Author information

Authors and Affiliations

  1. Department of Computer Science and Information Engineering, Hungkuang University, 34 Chung-Chie Rd, Sha Lu, Taichung, 443, Taiwan, R.O.C.

    Hsu-Chih Huang

Authors
  1. Hsu-Chih Huang
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, National Cheng Kung University, No. 1, University Road, 701, Tainan City, Taiwan

    Tzuu-Hseng S. Li

  2. National Kaohsiung First University of Science and Technology, 2 Juoyue Road, 40227, Taichung, Taiwan

    Kuo-Yang Tu

  3. Department of Electrical Engineering, Nationan Chung Hsing University, No. 250, Kuo-Kuang Road, 40227, Taichung, Taiwan

    Ching-Chih Tsai

  4. Department of Applied Electronics Technology, National Taiwan Normal University, 162 He-Ping East Road, Section 1, 10610, Taipei, Taiwan

    Chen-Chien Hsu

  5. National Kaohsiung First University of Science and Technology, 2 Juoyue Road, Nantsu District, 811, Kaohsiung City, Taiwan

    Chien-Cheng Tseng

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

  7. Department of Computer Science,, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes

  8. Department of Computer Science, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    John Anderson

  9. Tamkang University, Taipei, Taiwan

    Ching-Chang Wong

  10. Technische Universität Dortmund, Dortmund, Germany

    Norbert Jesse

  11. Department of Electrical Engineering, National Taiwan University of Science and Technology, 43, Sec. 4, Keelung Rd., 106, Taipei, Taiwan

    Chung-Hsien Kuo

  12. Institute of System Information and Control, National Kaohsiung First University of Science and Technology, 2 Juoyue Road, Nantsu District, 811, Kaohsiung City, Taiwan

    Haw-Ching Yang

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© 2011 Springer-Verlag Berlin Heidelberg

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Huang, HC. (2011). Intelligent Motion Control for Four-Wheeled Omnidirectional Mobile Robots Using Ant Colony Optimization. In: Li, TH.S., et al. Next Wave in Robotics. FIRA 2011. Communications in Computer and Information Science, vol 212. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23147-6_12

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  • DOI: https://doi.org/10.1007/978-3-642-23147-6_12

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-23146-9

  • Online ISBN: 978-3-642-23147-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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