Variational Genetic Programming for Optimal Control System Synthesis of Mobile Robots

The paper focuses on the problem of autonomous control system synthesis for the mobile robot. The proposed numerical solution is based on a new method of symbolic regression called variational genetic programming. This method uses the principle of variations of the basic solution. An optimal solution is searched over the set of small variations of the given basic solution. Such approach allows to generate automatically a control function that describes the feedback controller. In the given example the control system is synthesized using variational genetic programming for the unmanned mobile robot that has to move to some terminal position from the different initial states avoiding obstacles.