Precise motion controller design for a mobile robot based on the improved golden jackal optimization algorithm

To solve the motion control problem of mobile robots in complex unstructured environments, a precise motion controller for a mobile robot based on improved golden jackal optimization algorithm is designed in this paper. Based on the original GJO algorithm, the Henon chaos mapping theory is introduce...

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Bibliographic Details
Main Authors: Wang, Baiyi, Yi, Zhongwen, Liu, Xiaoyang, Hua, DeZheng, Liu, Xinhua
Format: Conference Proceeding
Language:English
Subjects:
Chaos
Convergence
improved golden jackal optimizer
mobile robot
Mobile robots
Motion control
Optimization
Stability analysis
Trajectory
Online Access:Request full text
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Summary:To solve the motion control problem of mobile robots in complex unstructured environments, a precise motion controller for a mobile robot based on improved golden jackal optimization algorithm is designed in this paper. Based on the original GJO algorithm, the Henon chaos mapping theory is introduced to improve the randomness of the golden jackal population initialization. Meanwhile, the sparrow exploration strategy and the opposite learning theory are introduced to increase the global search ability and local development ability of the golden jackal population, and reduce the probability of the population falling into local optimization. The results of the test functions show that the proposed algorithm (IGJO) has better optimization ability and convergence speed compared with the other classical algorithms. The IGJO algorithm is used for the parametric optimization of PID motion controller, and the effectiveness of the controller in mobile robot motion control is further verified by simulations and experiments.
ISSN:1934-1768
DOI:10.23919/CCC63176.2024.10662722