Optimization of Pitching and Yawing Directional Control Gains Using GA for a Small Tunneling Robot

This paper describes an optimization method of pitching and yawing directional control gains using genetic algorithm for a small tunneling robot. We constructed a dynamic model for the amount of directional correction of pitching and yawing. Through simulations for motion of the tunneling robot using the dynamic model, we optimized four feedback gains for the directional control of both pitching and yawing, using the genetic algorithm. The simulation results using the optimized gains showed the validity of the proposed optimization method.