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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/60909


    Title: Fuzzy controller designed by GA for two-wheeled mobile robots
    Authors: 翁慶昌;Wong, Ching-chang;Wang, H.Y.;Li, S.A.;鄭吉泰;Cheng, C.T.
    Contributors: 淡江大學電機工程學系
    Keywords: Mobile Robot;Fuzzy Control;Genetic Algorithms;Fitness Function
    Date: 2007-03
    Issue Date: 2011-10-15 01:04:32 (UTC+8)
    Abstract: 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.
    Relation: International Journal of Fuzzy Systems 9(1), pp.22-30
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Journal Article

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