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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/60936

    Title: PSO-based motion fuzzy controller design for mobile robots
    Authors: 翁慶昌;Wong, Ching-chang;Wang, H.Y.;Li, S.A.
    Contributors: 淡江大學電機工程學系
    Keywords: particle swarm optimization (PSO) algorithm;fitness function;fuzzy control;mobile robot
    Date: 2008-03
    Issue Date: 2011-10-15 01:07:12 (UTC+8)
    Publisher: Taipei: Chinese Fuzzy Systems Association
    Abstract: A motion control structure with a distance fuzzy controller and an angle fuzzy controller is proposed to determine velocities of the left-wheeled motor and right-wheeled motor of the two-wheeled mobile robot. A PSO-based method is proposed to automatically determine appropriate membership functions of these two fuzzy systems so that the controlled robot can move to any desired position effectively in a two-dimensional space. A ratio coefficient coding method and a variable fitness function are considered in the proposed PSO-based fuzzy controller design method so that the proposed PSO-based method with a good searching efficiency and the selected fuzzy controller with a good control performance.
    Relation: International Journal of Fuzzy Systems 10(1), pp.284-292
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Journal Article

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