Abstract

Target tracking is taken account as one of the most important topics in mobile robotics. This study addresses the problem of controlling of non-holonomic mobile robot to track a moving target. The control technique relies on Lyapunov stability to design a robust nonlinear control law to fulfill the target tracking. The proposed controller computes both the robot linear and angular velocities to regulate the position and orientation of the robot according to the moving target position. In addition, a genetic algorithm was applied to improve the controller’s performance by tuning its coefficients. Finally, simulations results are provided to verify the applicability and effectiveness of the proposed control approach.

Keywords:

Genetic algorithm, lyapunov-based controller, mobile robot, target tracking,

References

Competing interests

The authors have no competing interests.

Open Access Policy

This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

Copyright

The authors have no competing interests.