Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm

The paper present design of a control structure that enables integration of a Kinematic neural controller for trajectory tracking of a nonholonomic differential two wheeled mobile robot, then proposes a Kinematic neural controller to direct a National Instrument mobile robot (NI Mobile Robot). The...

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Autores principales:	Nizar Hadi Abbas, Basma Jumia saleh
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2017
Materias:	Mobile Robot Trajectory Tracking Neural Networks Kinematic Controller National Instrument Firefly Algorithm Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/a84045412f124267a961141b718e5d57
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spelling	oai:doaj.org-article:a84045412f124267a961141b718e5d572021-12-02T04:42:05ZDesign of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm1818-11712312-0789https://doaj.org/article/a84045412f124267a961141b718e5d572017-12-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/283https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 The paper present design of a control structure that enables integration of a Kinematic neural controller for trajectory tracking of a nonholonomic differential two wheeled mobile robot, then proposes a Kinematic neural controller to direct a National Instrument mobile robot (NI Mobile Robot). The controller is to make the actual velocity of the wheeled mobile robot close the required velocity by guarantees that the trajectory tracking mean squire error converges at minimum tracking error. The proposed tracking control system consists of two layers; The first layer is a multi-layer perceptron neural network system that controls the mobile robot to track the required path , The second layer is an optimization layer ,which is implemented based on hybrid Crossoved Firefly Algorithm with Artificial Bee Colony (CFA-ABC) to tune the controller's parameters to achieve the optimal path. The performance of the hybrid optimization algorithm is verified by various benchmark functions. The simulation results show that the utilizing of CFA and (CFA-ABC ) are better than the original Firefly Algorithm. A simulation example is given to indicate the effectiveness of the proposed algorithm, the results have been done using MATLAB (R2013b), and all trajectory tracking results with two reference trajectories (circular and lemniscates ) are presented. Nizar Hadi AbbasBasma Jumia salehAl-Khwarizmi College of Engineering – University of BaghdadarticleMobile RobotTrajectory TrackingNeural NetworksKinematic ControllerNational InstrumentFirefly AlgorithmChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 12, Iss 1 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	Mobile Robot Trajectory Tracking Neural Networks Kinematic Controller National Instrument Firefly Algorithm Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Mobile Robot Trajectory Tracking Neural Networks Kinematic Controller National Instrument Firefly Algorithm Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Nizar Hadi Abbas Basma Jumia saleh Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm
description	The paper present design of a control structure that enables integration of a Kinematic neural controller for trajectory tracking of a nonholonomic differential two wheeled mobile robot, then proposes a Kinematic neural controller to direct a National Instrument mobile robot (NI Mobile Robot). The controller is to make the actual velocity of the wheeled mobile robot close the required velocity by guarantees that the trajectory tracking mean squire error converges at minimum tracking error. The proposed tracking control system consists of two layers; The first layer is a multi-layer perceptron neural network system that controls the mobile robot to track the required path , The second layer is an optimization layer ,which is implemented based on hybrid Crossoved Firefly Algorithm with Artificial Bee Colony (CFA-ABC) to tune the controller's parameters to achieve the optimal path. The performance of the hybrid optimization algorithm is verified by various benchmark functions. The simulation results show that the utilizing of CFA and (CFA-ABC ) are better than the original Firefly Algorithm. A simulation example is given to indicate the effectiveness of the proposed algorithm, the results have been done using MATLAB (R2013b), and all trajectory tracking results with two reference trajectories (circular and lemniscates ) are presented.
format	article
author	Nizar Hadi Abbas Basma Jumia saleh
author_facet	Nizar Hadi Abbas Basma Jumia saleh
author_sort	Nizar Hadi Abbas
title	Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm
title_short	Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm
title_full	Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm
title_fullStr	Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm
title_full_unstemmed	Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm
title_sort	design of a kinematic neural controller for mobile robots based on enhanced hybrid firefly-artificial bee colony algorithm
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2017
url	https://doaj.org/article/a84045412f124267a961141b718e5d57
work_keys_str_mv	AT nizarhadiabbas designofakinematicneuralcontrollerformobilerobotsbasedonenhancedhybridfireflyartificialbeecolonyalgorithm AT basmajumiasaleh designofakinematicneuralcontrollerformobilerobotsbasedonenhancedhybridfireflyartificialbeecolonyalgorithm
_version_	1718401142585556992

Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm

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