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Robust control of non-holonomic wheeled mobile robot based on evolutionary programming for optimal motion

Even if the stability of a mobile robot system is guaranteed, this does not imply that its behaviors are satisfactory, or its trajectories satisfy shortest path, minimum time, minimum energy, and other constraints. To deal with these concerns, we employ an evolutionary programming (EP) algorithm to obtain the optimal control variables that govern motion control of a mobile robot. This paper focuses on evolving the control parameters used in a robust motion controller to obtain time optimal, minimum arrival error, shortest path, and minimum energy performance. The usefulness of the proposed scheme is demonstrated by computer simulations.