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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...
This paper considers the optimal control of switched hybrid systems in which the switching sequence is not specified. First, a depth first search is used to find all the possible paths between the initial subsystem and the terminal subsystem. Then, the switching points are fixed through a nonlinear programming method, and hence the optimal control of switched hybrid systems is reduced to the conventional...
Mobile robot market and its importance are rapidly increasing. Mobile robots usually mount batteries to extend operating time and workspace. For that, robot has to charge the battery while stopping at a station or exchange the battery. Charging battery is too slow to restart robots. Therefore, battery exchanging method is encouraged. Until now, this method needs expensive sensors such as laser range...
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