Tracking of a Moving Target by Improved Potential Field Controller in Cluttered Environments
In this paper, robot tracking of a moving target in cluttered environments by using an improved potential field controller is proposed. Genetic algorithms are used to improve the potential field controller by optimizing the forces applied to the robot. This improvement makes the robot path much more smoother during the tracking. A measure of smoothness is used to guide the genetic algorithm during the optimization. Of course more smoothing gives less distance and more speed to reach the goal. The optimized controller is simulated with different cases on Windows Vista using Matlab Software. These cases include environments with single obstacle up to three obstacles and multi-knee corridor. Results are compared to previous work, illustrating the superiority of the proposed work. Tracking of a moving target in the same cases are also simulated.
Keywords: Obstacle avoidance, Relative distance, Virtual sensor, Genetic Algorithm, Artificial potential field.
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ABOUT THE AUTHORS
Marwa Taher Yousef
Teacher Assistance at Automatic Control Department, Tibben Institute for Metallurgical studies. And a PhD student at Faculty of Engineering, Helwan University
Hosam Eldin Ibrahim Ali
Doctor at Communication, Electronics and Computer Department in Faculty of Engineering, Helwan University
Shahira Mahmoud Habashy
Doctor at Communication, Electronics and Computer Department in Faculty of Engineering, Helwan University
Elsayed Mostafa Saad
Prof. Doctor at Communication, Electronics and Computer Department in Faculty of Engineering, Helwan University
Marwa Taher Yousef
Teacher Assistance at Automatic Control Department, Tibben Institute for Metallurgical studies. And a PhD student at Faculty of Engineering, Helwan University
Hosam Eldin Ibrahim Ali
Doctor at Communication, Electronics and Computer Department in Faculty of Engineering, Helwan University
Shahira Mahmoud Habashy
Doctor at Communication, Electronics and Computer Department in Faculty of Engineering, Helwan University
Elsayed Mostafa Saad
Prof. Doctor at Communication, Electronics and Computer Department in Faculty of Engineering, Helwan University
