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Trajectory Tracking Control for Mobile Robot using Wavelet Network

International Journal of Computer Applications
© 2013 by IJCA Journal
Volume 74 - Number 3
Year of Publication: 2013
Turki Y. Abdalla
Mustafa I. Hamzah

Turki Y Abdalla and Mustafa I Hamzah. Article: Trajectory Tracking Control for Mobile Robot using Wavelet Network. International Journal of Computer Applications 74(3):32-37, July 2013. Full text available. BibTeX

	author = {Turki Y. Abdalla and Mustafa I. Hamzah},
	title = {Article: Trajectory Tracking Control for Mobile Robot using Wavelet Network},
	journal = {International Journal of Computer Applications},
	year = {2013},
	volume = {74},
	number = {3},
	pages = {32-37},
	month = {July},
	note = {Full text available}


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.


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