# 신경회로망과 유전알고리즘에 기초한 이동로봇의 제어 이득 최적화

• Accepted : 2016.02.14
• Published : 2016.04.30
• 26 30

#### Abstract

In order to move mobile robots to desired locations in a minimum time, optimal control problems have to be solved; however, their analytic solutions are almost impossible to obtain due to robot nonlinear equations. This paper presents a method to get optimal control gains of mobile robots using genetic algorithms. Since the optimal control gains of mobile robots depend on the initial conditions, the initial condition range is discretized to form some grid points, and genetic algorithms are applied to provide the optimal control gains for the corresponding grid points. The optimal control gains for general initial conditions may be obtained by use of neural networks. So the optimal control gains and the corresponding grid points are used to train neural networks. The trained neural networks can supply pseudo-optimal control gains. Finally simulation studies have been conducted to verify the effectiveness of the method presented in this paper.

#### Keywords

Neural Network;Genetic Algorithm;Mobile Robot;Minimum-time;Optimal Control Gain

#### References

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#### Acknowledgement

Supported by : Pusan National University
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