A GA-based fuzzy controller design method is
proposed for a two-wheeled mobile robot to independently
control two velocities of its left-wheeled
motor and right-wheeled motor so that the controlled
robot can move fast and efficiently to the desired position.
First, the kinematics model of the considered
two-wheeled robot is described and a
4-input-and-2-output motion fuzzy control structure
with two 2-input-and-1-output fuzzy systems is proposed.
Then a GA-based method is proposed, where a
ratio coefficient coding method and a variable fitness
function in the genetic algorithm are proposed to
choose the input and output membership functions of
these two fuzzy systems so that the selected controller
has a good performance in the robot’s motion. From
the control results of the proposed method in the 3D
Robot Soccer Simulator of FIRA, we can see that the
proposed motion control method for two-wheeled
mobile robots is feasible and effective.
International Journal of Fuzzy Systems 9(1), pp.22-30