Trajectory Tracking Control for Mobile Robot using Wavelet Network

Abstract

This paper present a new wavelet network control scheme for mobile robot path tracking. The particles swarm optimization (PSO) method is used for determining the optimal wavelet neural network parameters and the proportional integral derivative (PID) controller parameters, for the control of nonholonomic mobile robot that involves trajectory tracking using two optimized WNN controllers one for speed control and the other for azimuth control. The mobile robot is modeled in Simulink and PSO algorithm is implemented using MATLAB. Simulation results show good performance for the proposed control scheme. General Terms Mobile robot motion control system.