Position Tracking for Mobile Robot using Imperialist Competitive Algorithm
The most important factor for a mobile robot is navigation. Success in localization is one of the four requirements of navigation which includes perception, localization, cognition and motion control. Localization is usually done in two ways: global localization problem and position tracking problem. In the global localization problem the robot does not know its initial position and it has to localize itself. In the position tracking problem for a robot given its initial position, the goal is to keep track of the position while the robot is navigating through the environment. In this paper we propose a method using an evolutionary algorithm for position tracking. We use Imperialist Competitive Algorithm (1CA) to achieve our goal. The results which have been demonstrated in the experimental results section show that our algorithm works very accurate in all of the positions that we located the robot for our tests with acceptable number of iterations. Also our algorithm can demonstrate that robot is kidnapped our not. If the robot is kidnapped , we should use global localization method which we
Mobile Robots Position Tracking Imperialist Competitive Algorithm Evolutionary Algorithms
Ali Tamimi Mohammad Hossein Jalilolghadr
School of Electrical and computer Engineering Qazvin Islamic Azad University Qazvin, Iran
国际会议
海口
英文
694-699
2011-07-15（万方平台首次上网日期，不代表论文的发表时间）