2018-12-052018-11-01DOMINGOS, R. M. M. Neuroevolucão de um controlador neural e dinâmico para um robô móvel omnidirecional de quatro rodas. 2018. 80 f. Dissertação (Mestrado em Engenharia Elétrica e da Computação) - Universidade Federal de Goiás, Goiânia, 2018.http://repositorio.bc.ufg.br/tede/handle/tede/9126This work proposes a hierarchical control architecture to deal with the Trajectory Tracking Problem while an autonomous omnidirectional wheeled mobile robot operates. A traditional velocity controller and an intelligent decision-making neural network controller address the problem, considering the robot's kinematic and dynamic models. A neuroevolution technique evolves a smart Neurocontroller functionally attached to a Resolved Acceleration PI/PD Controller. The resulting control strategy shows to improve trajectory tracking errors during simulation studies. The Traditional and Intelligent controller combination showed very promising results even when applied in other trajectories that didn't belong to the original training set.application/pdfAcesso AbertoNeuroevoluçãoControle inteligenteRedes neuraisAlgoritmo genéticoNeuroevolutionIntelligent controlNeural networksGenetic algorithmCIENCIA DA COMPUTACAO::TEORIA DA COMPUTACAODissertação