Wheeled mobile robot control based on SVM and nonlinear control laws

Authors:
Yong Feng;Huibin Cao;Yuxiang Sun
Affiliations:
Department of Automation, University of Science and Technology of China, Hefei, Anhui, China and Institute of Intelligent Machine, Chinese Academy of Science, Hefei, Anhui, China;Institute of Intelligent Machine, Chinese Academy of Science, Hefei, Anhui, China;Institute of Intelligent Machine, Chinese Academy of Science, Hefei, Anhui, China
Venue:
AICI'11 Proceedings of the Third international conference on Artificial intelligence and computational intelligence - Volume Part III
Year:
2011

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Abstract

Wheeled mobile robot control method based on SVM algorithm and nonlinear control laws is discussed in this paper. The control system includes two parts: nonlinear controller and SVM controller. Nonlinear controller's primary role is to obtain the desired velocity which can make the kinematics stable, SVM controller's primary role is to optimize the control parameters through on-line learning and track the desired velocity. The control method proposed in this paper is independent of the control object model, and has good generalization capability. Simulations illustrate quality and efficiency of this method.