Fuzzy controller designed by GA for two-wheeled mobile robots

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 期刊論文 > Item 987654321/60909

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題名:	Fuzzy controller designed by GA for two-wheeled mobile robots
作者:	翁慶昌;Wong, Ching-chang;Wang, H.Y.;Li, S.A.;鄭吉泰;Cheng, C.T.
貢獻者:	淡江大學電機工程學系
關鍵詞:	Mobile Robot;Fuzzy Control;Genetic Algorithms;Fitness Function
日期:	2007-03
上傳時間:	2011-10-15 01:04:32 (UTC+8)
摘要:	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.
關聯:	International Journal of Fuzzy Systems 9(1), pp.22-30
顯示於類別:	[電機工程學系暨研究所] 期刊論文

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