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Trajectory Tracking Control for Mobile Robot using Wavelet Network

by Turki Y. Abdalla, Mustafa I. Hamzah
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 74 - Number 3
Year of Publication: 2013
Authors: Turki Y. Abdalla, Mustafa I. Hamzah
10.5120/12866-9700

Turki Y. Abdalla, Mustafa I. Hamzah . Trajectory Tracking Control for Mobile Robot using Wavelet Network. International Journal of Computer Applications. 74, 3 ( July 2013), 32-37. DOI=10.5120/12866-9700

@article{ 10.5120/12866-9700,
author = { Turki Y. Abdalla, Mustafa I. Hamzah },
title = { Trajectory Tracking Control for Mobile Robot using Wavelet Network },
journal = { International Journal of Computer Applications },
issue_date = { July 2013 },
volume = { 74 },
number = { 3 },
month = { July },
year = { 2013 },
issn = { 0975-8887 },
pages = { 32-37 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume74/number3/12866-9700/ },
doi = { 10.5120/12866-9700 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T21:41:16.043879+05:30
%A Turki Y. Abdalla
%A Mustafa I. Hamzah
%T Trajectory Tracking Control for Mobile Robot using Wavelet Network
%J International Journal of Computer Applications
%@ 0975-8887
%V 74
%N 3
%P 32-37
%D 2013
%I Foundation of Computer Science (FCS), NY, USA
Abstract

This paper present a new wavelet network control scheme for mobile robot path tracking . The particles swarm optimization (PSO) method is used for determining the optimal wavelet neural network parameters and the proportional integral derivative (PID) controller parameters, for the control of nonholonomic mobile robot that involves trajectory tracking using two optimized WNN controllers one for speed control and the other for azimuth control. The mobile robot is modeled in Simulink and PSO algorithm is implemented using MATLAB. Simulation results show good performance for the proposed control scheme.

References
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Index Terms

Computer Science
Information Sciences

Keywords

Mobile Robot Wavelet Neural Network PSO Trajectory Tracking

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