Genetic Programming Based Position Estimator and Control Model for Tracking Wheeled Robot Curvatures

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  author =       "Abeer M. Mahmoud",
  title =        "Genetic Programming Based Position Estimator and
                 Control Model for Tracking Wheeled Robot Curvatures",
  journal =      "Egyptian Computer Science Journal",
  year =         "2015",
  volume =       "39",
  number =       "2",
  pages =        "32--42",
  month =        may,
  keywords =     "genetic algorithms, genetic programming, Wheel robot,
                 Simulation, Estimation",
  ISSN =         "1110-2586",
  URL =          "",
  size =         "11 pages",
  abstract =     "Wheeled mobile robots (WMRs) have a numerous
                 applications and planetary of exploration tasks, all of
                 which require building the suitable dynamic model of
                 the robot. Also, the optimal control model that is
                 intended to guide the robot to accomplish its mission
                 is of a significant need. In addition, it is a certain
                 that achieving a success in the robot controller
                 mission requires an accurate estimation of the robot
                 trajectory for setting the right control parameters and
                 predicting the robot behaviour in different situations.
                 The overall WMR dynamics subject to skidding, wheel
                 slip, regulation control and turning control are
                 formulated and simulated in this paper for a commercial
                 four wheel robot. In addition, the paper proposes a new
                 genetic programming (GP) based control model for
                 tracking curvature trajectory of a four wheels robot.
                 The proposed model(GPCE) achieved a promising
                 refinement in the robot of curvature estimation and
                 simulation hence provided accurate control parameters
                 for trajectory tracking.",
  notes =        "Figure 1: GAIA-1arobot and simulated

        Computer Science
                 dept., Faculty of Computer and Information Sciences,
                 Ain Shams University, Cairo, Egypt",

Genetic Programming entries for Abeer M Mahmoud