Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 52nd Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 6F1-1
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Host: Institute of Systems, Control and Information Engineers

Trajectory control of four wheel vehicle using direct gradient descent control optimized by genetic algorithm
*Hiroshi Kinjo, Shinsaku Maehana
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Keywords: trajectory control, Four wheel vehicle, direct gradient descent control, genetic algorithm
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Abstract
The direct gradient descent controller with genetic algorim is developed to slove a class of non-holonomic control problems. In this paper, we propose that genetic algorithm is used to optimize the control parameters of the direct gradient descent controller. We apply the controller to the four wheel vehicle trajectory control problem.
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© 2008 The Institute of Systems, Control and Information Engineers
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