Abstract
Conference Title: 2014 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Conference Start Date: 2014, May 22 Conference End Date: 2014, May 24 Conference Location: Cluj-Napoca, Romania In this paper, the kinematics of a skid steering mobile robot is controlled using a nonlinear controller augmented with a genetic algorithm which is used to tune the controller parameters. The controller is simple in terms of design and implementation. Moreover, it maintains good performance and has stronger robustness. Furthermore, the proposed controller is used to control an extended kinematics model taking into account slip effects to test the validity and enhancement of the controller. Simulation results are included. [PUBLICATION ABSTRACT]